摘要
针对典型的串联和并联机构 ,建立了动力学模型。分析了在外力输入时机构的静刚度和动刚度。提出使用冗余驱动方式提高刚度及其一致性。根据运动刚度分析方法 ,建立了主动力输入时的刚度矩阵。定义了反映加速度性能的动力学指标 ,用于评价和优化机构的设计。给出了几种典型机构的动力学指标的分布图形 。
Dynamics model of typical serial and parallel mechanisms were presented, which could be used to analyzed the static and dynamic stiffness. It was proposed that redundant drive could be adopted to improve the stiffness and consistence in all work space. The stiffness matrix was induced and dynamics index was defined to evaluate mechanism, the redundant parallel mechanism is proved to have the best dynamic performances.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第18期1607-1609,1646,共4页
China Mechanical Engineering
