平行超静定三轴结构的机械刚度分析
Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique
摘要：
提出了一种新的过约束并联机器人刚度建模方法，并将其应用于3-d.o.f.翻译机制它是基于一个多维集总参数模型，取代本地6-d.o.f.的链接灵活性。虚拟弹簧与其他工作相比，该方法包括一个基于有限元分析的连杆刚度评估，并采用了一种新的解决方案的动力学方程，它允许计算刚度矩阵的过约束架构和奇异的机械手姿态。所开发的技术的优点被证实的应用实例，其中涉及两个平移并联机器人的刚度比较分析。
英文摘要：
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
