[1]陈小岗,孙 宇,彭斌彬,等.6-UPS并联机床静刚度分布特性[J].南京理工大学学报(自然科学版),2013,37(06):926-933.
 Chen Xiaogang,Sun Yu,Peng Binbin,et al.Distribution characteristics of static stiffness for 6-UPS parallel machine tool[J].Journal of Nanjing University of Science and Technology,2013,37(06):926-933.
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6-UPS并联机床静刚度分布特性
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
37卷
期数:
2013年06期
页码:
926-933
栏目:
出版日期:
2013-12-31

文章信息/Info

Title:
Distribution characteristics of static stiffness for 6-UPS parallel machine tool
作者:
陈小岗12孙 宇1彭斌彬1刘远伟2
1.南京理工大学 机械工程学院,江苏 南京 210094;
2.淮阴工学院 数字化制造技术实验室,江苏 淮安 223003
Author(s):
Chen Xiaogang12Sun Yu1Peng Binbin1Liu Yuanwei2
1.School of Mechanical Engineering,NUST,Nanjing 210094,China;
2.Laboratory of Digital Manufacturing Technology,Huaiyin Institute of Technology,Huai'an 223003,China
关键词:
并联机床 静刚度 欧拉角 旋转变换 平动刚度
Keywords:
parallel machine tools static stiffness Euler angles rotation transformation translational stiffness
分类号:
TH112
摘要:
为评价交叉杆式Stewart型(BJ-04-02(A))并联机床的静刚度,对其静刚度在工作空间内的分布特性进行了研究。将基于欧拉角的旋转变换与绕空间轴旋转变换相结合,导出了含位姿量的静刚度矩阵解析表达式。据此从参考姿态下某一层内静刚度的分布特性,参考姿态下静刚度随z坐标的变化,静刚度随倾斜方向和倾斜角的变化三个方面揭示了静刚度的分布特性。获得了工作空间内静刚度的分布图。结果表明,静刚度在各层内具有相似的分布规律,并具有随z坐标递增的趋势,且姿态对平动刚度影响较小。
Abstract:
To estimate the static stiffness of a cross-linked stewart type(BJ-04-02(A))parallel machine tool,its distribution characteristics of the static stiffness in a workspace is researched.An analytical expression of a static stiffness matrix containing pose(position and orientation)is derived by combining two rotation transformation matrices based on Euler angles and rotation around a spatial axis.The distribution characteristics of the static stiffness in the workspace are revealed in the aspects of the distribution characteristics of the static stiffness in a given layer for a given orientation,the variations of the static stiffness with the coordinate z for a given orientation,the variations of the static stiffness with tilting directions and tilting angles.The distribution figures of the static stiffness in the workspace are obtained.The results show that the distributions of the static stiffness in different layers are similar and the static stiffness increases with the coordinate z and the translational stiffness is influenced slightly by tilting directions and tilting angles.

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相似文献/References:

[1]彭斌彬,李增明,武凯,等.二自由度平移并联机器人空间静刚度分析[J].南京理工大学学报(自然科学版),2012,36(03):522.
 PENG Bin-bin,LI Zeng-ming,WU Kai,et al.Spatial Static Stiffness Analysis of 2-DOF Translational Parallel Robots[J].Journal of Nanjing University of Science and Technology,2012,36(06):522.

备注/Memo

备注/Memo:
收稿日期:2012-12-10 修回日期:2013-05-21
基金项目:江苏省高校自然科学基础研究项目(12KJA460001; 12KJB460001); 淮阴工学院科研基金(HGC1016)
作者简介:陈小岗(1981-),男,博士生,讲师,主要研究方向:并联机构及机床,E-mail:chxg_03010013@tom.com; 通讯作者:孙宇(1964-),教授,博士生导师,主要研究方向:数控精密高效成形技术与装备,E-mail:sunyu@njust.edu.cn。
引文格式:陈小岗,孙宇,彭斌彬,等.6-UPS并联机床静刚度分布特性[J].南京理工大学学报,2013,37(6):926-933.
投稿网址:http://njlgdxxb.paperonce.org
更新日期/Last Update: 2013-12-31