RGRR并联双自由度转动机构静刚度矩阵计算及刚度敏感方向分析

Static Stiffness Matrix Calculation and Stiffness Sensitive Direction Analysis of RGRR Parallel Two-Degree-of-Freedom Rotating Mechanism

摘要: RGRR并联双自由度转动机构具有高刚度、高承载能力且结构紧凑等优点，本文通过RGRR机构末端输出构件所受外载荷与末端输出构件变形之间的映射关系求出其在固定坐标系的静刚度矩阵。通过matlab计算分析，获得该机构静刚度在其工作空间的分布规律及敏感方向，可为其他并联机构的静刚度研究提供了借鉴。

Abstract: The RGRR parallel two-degree of freedom rotating mechanism has the advantages of high stiffness, high load capacity and compact structure. In this paper, the static stiffness matrix of RGRR mechanism in fixed coordinate system is obtained by the mapping relationship between the external load on the end output member and the deformation of the end output member. Through matlab calculation and analysis, the distribution law and sensitive direction of the static stiffness of the mechanism in its working space are obtained. This paper provides a reference for the static stiffness research of other parallel mechanisms.