Stiffness Modeling and Analysis of Semi-symmetrical Three-translation Delta-CU Parallel Mechanism

doi:10.3969/j.issn.1004-132X.2020.17.006

Abstract

Abstract: Stiffness and performance of Delta-CU were studied herein. Compliance model of limb was established by using virtual spring method, and the static equations of the limb were given. Kinematic differential mapping was obtained by the screw theory, and the Cartesian stiffness matrix of the mechanisms was obtained by making use of the static equations. Finite element analyses showed that the matrix is applicable in the stiffncss analysis. Finally，based on the defined virtual work stiffness index，the Delta-CU mechanism under given parameters was analyzed and compared with the Delta mechanisms，which shows that the Delta-CU mechanism has the same translational stiffness with the conventional Delta mechanisms.

Key words: three-translation parallel mechanism, stiffness analysis, virtual-spring method, virtual work stiffness index

摘要： 研究了Delta-CU机构的刚度及其特性，运用虚拟弹簧法建立了支链的柔性模型，并给出了支链的静力学方程。利用旋量方法得到了支链中的运动微分映射，根据静力学方程得出机构的笛卡儿空间刚度矩阵，并通过有限元分析验证了矩阵的正确性。最后，利用虚功刚度指标对给定参数下的Delta-CU机构进行算例分析，并将其与Delta机构进行了比较，结果表明Delta-CU机构与Delta机构具有基本相同的刚度特性。

关键词: 三平移并联机构, 刚度分析, 虚拟弹簧法, 虚功刚度指标

CLC Number:

TH11

WANG Yixi1;WU Guanglei2;SHEN Huiping1;LI Jiayu1;MENG Qingmei1;LI Ju1;DENG Jiaming1. Stiffness Modeling and Analysis of Semi-symmetrical Three-translation Delta-CU Parallel Mechanism[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.17.006.

王一熙1;吴广磊2;沈惠平1;李家宇1;孟庆梅1;李菊1;邓嘉鸣1. 半对称三平移Delta-CU并联机构的刚度建模与分析[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.17.006.

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