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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.
Aiming at the stiffness and elastic deformation of a 3SPS + UP parallel mechanism with constrained branches, the method of solving the total stiffness matrix and elastic deformation based on active / passive restraining force is presented. The results show that the force of 3SPS + UP parallel mechanism State of the 3SPS + UP parallel mechanism, the active deformation of the 3SPS + UP parallel mechanism is analyzed, and the active deformation of the 3SPS + UP parallel mechanism is analyzed. The elastic deformation of the active / constrained branch of the 3SPS + UP parallel mechanism is analyzed. Have a huge impact.Conclusion: When establishing the total stiffness matrix of 3SPS + UP parallel mechanism and solving the elastic deformation, the constraint rotation must be considered.