期刊
MECHANISM AND MACHINE THEORY
卷 44, 期 5, 页码 966-982出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2008.05.017
关键词
Parallel mechanisms; Stiffness modeling; Parallelogram-based linkage; Orthoglide robot
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix for the overconstrained architectures, including singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator. Crown Copyright (C) 2008 Published by Elsevier Ltd. All rights reserved.
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