基于约束力旋3SPS＋UP并联机构刚度和弹性变形

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In order to solve the stiffness and elastic deformation problems with a 3SPS＋UP limiteddegree-of-freedom parallel manipulators,this study derives the general stiffness matrix and the elastic deformation using an active/passive constraint leg method.After the analysis of the force situations of 3SPS＋UP PMs,the poses of the active/constraint wrench are obtained.In addition,the elastic deformations of the active/constraint legs of 3SPS＋UP PMs are analyzed,and the compliance matrices of the active/constraint legs are derived.The results demonstrate that the constraint wrench of 3SPS＋UP parallel manipulators will have a big impact on the elastic deformation.The study concludes that when the total stiffness matrix of the 3SPS＋UP parallel mechanism is established and the elastic deformation is solved,the constrained wrench must be considered.针对具有约束分支的3SPS＋UP少自由度并联机构刚度与弹性变形问题,采用基于主动/被动约束力旋求解其总刚度矩阵和弹性变形的方法.结果表明：对3SPS＋UP并联机构的受力状态进行分析,并确定主动/约束力旋的姿态,分析3SPS＋UP并联机构的主动/约束分支的弹性变形,导出主动/约束分支的伴随矩阵,约束力旋对3SPS＋UP并联机构的弹性变形有巨大的影响.得出结论：当建立3SPS＋UP并联机构的总刚度矩阵和求解弹性变形时,必须考虑约束力旋.