空间3-UPU/UPU型并联机构的运动学求解与刚度分析

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With the space 3-UPU/UPU parallel mechanism as the research object,it establishes the kinematics model of the mechanism,inverse position solution and the mechanism of the Jacobioan matrix.Using the software of RecurDyn V7R3 to carry on the simulation and analysis,getting the displacement and velocity versus time curve diagram.It solves the mechanism of global stiffness model and put forward performance analysis,through the software Matlab simulation analyzing effect of structure parameters on the stiffness.The 3-UPU/UPU parallel mechanism kinematics,kinematic characteristics analysis and solution of the stiffness for mechanism provides a theoretical basis for further analysis.以空间3-UPU/UPU型并联机构为研究对象,研究此并联机构的运动学及刚度问题。首先,建立此并联机构的运动学模型,求出此并联机构的位置逆解以及此并联机构的Jacobioan矩阵;其次,利用软件RecurDynV7R3进行仿真分析,得到此并联机构位移及速度随时间变化的曲线图。最后,对此并联机构全局刚度模型求解及性能分析,再通过软件Matlab仿真分析此并联机构的结构参数的变化对刚度的影响,得出三维图。以上对3-UPU/UPU型并联机构的运动学、运动特性分析以及刚度求解为此并联机构机构的进一步分析提供了理论基础。