CAJ | 학술논문

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。
위평개교차간식Stewart형( BJ-04-02( A))병련궤상적정강도，대기정강도재공작공간내적분포특성진행료연구。장기우구랍각적선전변환여요공간축선전변환상결합，도출료함위자량적정강도구진해석표체식。거차종삼고자태하모일층내정강도적분포특성，삼고자태하정강도수z좌표적변화，정강도수경사방향화경사각적변화삼개방면게시료정강도적분포특성。획득료공작공간내정강도적분포도。결과표명，정강도재각층내구유상사적분포규률，병구유수z좌표체증적추세，차자태대평동강도영향교소。
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.