摘 要：基于影响系数法和势能守恒原理建立包含主、被动铰链弹性变形以及外力作用下的Stewart机构刚度映射模型。与目前普遍采用的刚度矩阵映射模型相比，该映射模型不仅考虑了驱动支链轴向线刚度，被动铰链刚度，还考虑了外力作用下机构位形微变引起的Jacobian矩阵的变化，因此更具有一般性和精确性。通过一机构分析实例，结合刚度矩阵瑞利商评价指标，考察了两种模型下刚度性能的差异。

Abstract：Based on influence coefficient method and principle of conversation of potential, stiffness mapping of Stewart mechanism is established, which takes into account the elastic deformation of active, passive joints and the effect of external wrench. Compared with the prevalent stiffness mapping model, the proposed model is more general and exact, not only considering the axis stiffness of actuator, but also considering the stiffness of passive joints and the change of Jacobian matrix brought about by tiny change of mechanism under external wrench. An example is analyzed combining stiffness matrix Reyleigh quotient to contrast the stiffness performance differences between the two models.