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中文摘要：
以Tricept机械手的3自由度球坐标型并联机构为例,提出含恰约束支链的球坐标型并联构型装备静刚度解析建模方法。该方法首先借助子结构综合思想将末端执行器位姿变形分解为无约束主动支链的拉压变形、恰约束支链的弯曲变形及其扭转变形3个部分,然后利用虚功原理和结构矩阵法建立各子结构系统的静柔度模型,最后借助线性叠加原理组集整机末端静柔度模型。在建模过程中,侧重研究恰约束支链弯曲剐度以及铰链刚度的建模方法。在此基础上,考察了Tricept机械手中3自由度并联机构静刚度在工作空间中的变化规律,并借助全局性能指标评价了主要构件柔度对整机柔度的贡献。
英文摘要：
By taking the 3-DOF parallel mechanism within the Tricept robot as an example, an analytical approach is presented, which enables the stiffness of the PKM having a properly constrained passive limb to be quickly estimated within the entire workspace. This approach can be implemented by three steps： （1） Decomposition of the end-effector＇s deformations into the tensile/compression deformation of the unconstrained active UPS limbs, and the torsional and bending deformations of the properly constrained UP limb. （2） Formulation of the stiffness model of each subsystem by means of virtual work principle and structure matrix method. （3） Generation of the compliance model of the entire system by linear superposition. The static stiffness distributions of the 3-DOF parallel mechanism of the Tricept are depicted in a spherical coordinate system, and the contributions of the component compliances to the system compliance is evaluated by using global performance indices.
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