Research On Kinematic And Static Stiffness Of 6-DOF Mechanism For Precision Docking

In order to make greater breakthroughs in new energy field,our country starts researching nuclear fusion actively.In some engineering applications,there are a large number of optical modules that need to be docked to the optical path device.and the optical path device and module with a small gap,and the internal dark,also a high Installation accuracy and Cleanliness are requested,so we need an automatic installation equipment.First of all,this paper analyze Six Degrees of Freedom(6-DOF)optical module.and Combined with the actual situation,a verification installation platform system is designed to achieve 6-DOF attitude adjusting.and this system include 3-RPS/UPS standard adjustment mechanism and 4-PPR flat adjustment mechanism.After introduce the mechanism,the degrees of freedom is calculated with the Screw Theory,and obtained the inverse position model.Then use the stiffness matrix method in Matlab simulation to find out if the model is correct.What's more,traditional static stiffness model is established by virtual work principle and the spatial distribution is obtained considering the influences of the redundant branches by using the stiffness matrix method in Matlab simulation.Then the correctness of the model is verified by ANSYS Workbench software.