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Stiffness analysis of a2-DoF over-constrained RPM with an articulated traveling platform
Tianjin University.
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300072, China.ORCID iD: 0000-0002-6747-8565
Tianjin Univeristy.
2016 (English)In: Mechanism and machine theory, ISSN 0094-114X, E-ISSN 1873-3999, Vol. 96, p. 165-178Article in journal (Refereed) Published
Abstract [en]

Driven by the requirements of inter-satellite link antenna for tracking mechanism with two degree-of-freedom (DoF), this paper proposes a 2-DoF over-constrained rotational parallel mechanism (RPM) with an articulated traveling platform and formulates its stiffness model considering gravitational effects. The stiffness modeling is implemented by three steps: 1) Considering the over-constrained property and gravitational effects, twist/wrench mapping models of two R(RU)(2) limbs connecting the fixed base and the articulated traveling platform are obtained based upon screw theory. 2) Employing deformation superposition principle, the compliance models of two R(RU)(2) limbs in their joint spaces are formulated, of which component compliance is described by n-DoF (n <= 6) virtual springs; and 3) by applying deformation compatibility conditions and twist/wrench mapping models into the virtual work equations, the stiffness model of the 2-DoF over-constrained RPM considering gravitational effects is derived. From component, limbs to mechanism, the stiffness modeling process demonstrates their relations with clear physical meaning and unifies performances including kinematic, stiffness, accuracy and dynamics. This approach is verified by commercial FEA software. Finally the stiffness distribution and gravitational effects within prescribed workspace are discussed.

Place, publisher, year, edition, pages
Elsevier, 2016. Vol. 96, p. 165-178
Keywords [en]
2-DoF over-constrained rotational parallel mechanism, Articulated traveling platform, Stiffness model, Gravitational effects, n-DoF virtual spring
National Category
Applied Mechanics
Identifiers
URN: urn:nbn:se:kth:diva-249520DOI: 10.1016/j.mechmachtheory.2015.09.008ISI: 000366460400010Scopus ID: 2-s2.0-84945540564OAI: oai:DiVA.org:kth-249520DiVA, id: diva2:1304586
Note

QC 20190626

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-06-26Bibliographically approved

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