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Stiffness Analysis of Spherical Parallel Mechanism U_(P+R) with 2-DOF

Journal of Harbin Institute of Technology(New Series) 2013年第4期20卷 41-47页

作者： Yu-Lin Zhou Long Yang Bo Li Da-Xing Zeng Feng Gao School of Mechanical Engineering Yanshan University XCMG Xuzhou Truck-Mounted Crane Co. Ltd. State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University

As one of the typical less-mobility parallel mechanisms,the spherical parallel mechanism U_(P + R) with two degrees of freedom(2-DOF)possess high order overconstraints,and the calculation of its stiffness is partly different with general parallel mechanisms owing to the bars in each branch are assumed to be *** means of small deformation superposition principle,the relationship between the angle displacement and line displacement of moving platform and the forces acted on the branches were derived *** on the results of static analysis,the relationship between the applied force,the line displacement and the angle displacement of the mechanism was set *** then the stiffness matrix was *** six principal stiffness of the mechanism and the corresponding directions were achieved by the orthogonal *** numerical calculation was performed and the results showed that the principal stiffness and directions are varied with the pose-position of the mechanism,and the principal stiffness is gradually enlarged when it is far away from the *** addition,the torsion stiffness is much greater and the line deformation stiffness is smaller,the difference between the two parts is *** research content of this paper supplies the theoretical foundation for the further engineering design and application of the spherical parallel mechanism.

关键词： spherical parallel mechanism static stiffness orthogonal transformation line displacement angle displacement

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