• CN：11-2187/TH
• ISSN：0577-6686

• 机构学及机器人学 •

### 考虑杆件空间复合弹性变形的过约束并联机构受力分析方法

1. 1.燕山大学河北省并联机器人与机电系统实验室；
2.燕山大学先进锻压成型技术与科学教育部重点实验室
• 出版日期:2015-04-05 发布日期:2015-04-05
• 基金资助:
国家自然科学基金(51275439)、国家重点基础研究发展计划(973计划，2013CB733000)和燕山大学青年教师自主研究计划课题(13LGA001)资助项目

### Method for Force Analysis of the Overconstrained Parallel Mechanism Considering the Link’s Spatial Composite Elastic Deformations

XU Yundou1, 2, YAO Jiantao1, 2, JIN Linru1, 2, ZHAO Yongsheng1, 2,

1. 1.Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University;
2.Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University
• Online:2015-04-05 Published:2015-04-05

Abstract: A method for force analysis of the overconstrained parallel mechanism (PM) is proposed considering the link’s spatial composite elastic deformations, including bending, tensile, and torsional deformations. Stiffness matrix of the supporting limb’s overconstraint wrenches is put forward and defined, and the mapping relation between the magnitudes of the constraint wrenches and the elastic deformations of the supporting limb’s end is established. Incorporating the force balance equation of the moving platform, the general analytical expression for the solution of each supporting limb’s constraint wrenches is derived. The internal relation between the constraint wrenches imposed on the moving platform and the actual reactions of the kinematic joints is analyzed, and the actuated forces/torques and reactions of all the passive kinematic joints are solved. Based on ADAMS simulation software, a method to set up the force simulation model of the overconstrained PM is put forward, the established rigid-flexible model is completely consistent with the theoretical model, and the error between the simulation result and the theoretical calculation result is less than 2%, which effectively verifies the correctness of the proposed method for force analysis of the overconstrained PM.