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Stiffness modeling of parallel manipulator with articulated traveling plate
Tianjin University.
Key Laboratory of Mechanism Theory and Equipment Design of Ministry of EducationTianjin UniversityTianjinChina.ORCID iD: 0000-0002-6747-8565
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2017 (English)In: Mechanism and Machine Science: Proceedings of ASIAN MMS 2016 & CCMMS 2016, Springer, 2017, p. 1043-1055Chapter in book (Refereed)
Abstract [en]

Parallel manipulator (PM) with articulated travelling plate (ATP) has drawn more and more attention from industry and academia. In order to characterize stiffness of PMs with ATP in an explicit and accurate manner, a semi-analytical stiffness modeling method is proposed. Resorting to superposition principle, compliance matrix of the whole PM can be formulated by the parallel limbs and ATP step-by-step. In the formulation of compliance of two substructures, n-DoF (n <= 6) virtual springs are firstly applied to describe component deformations. Then, deformation superposition, twist/wrench mapping model, virtual work principle and Hooke's Law are adopted. Wrenches of parallel limbs become single wrenches within each limb, combination wrenches from opposite limbs due to the effect of ATP. This stiffness modeling method is exemplified and verified by a one translational and three rotational (1T3R) PM with ATP. Results from finite element analysis software indicate that proposed stiffness modeling method is with high accuracy.

Place, publisher, year, edition, pages
Springer, 2017. p. 1043-1055
Series
Lecture Notes in Electrical Engineering, ISSN 1876-1100 ; 408
Keywords [en]
Parallel manipulators; Articulated traveling plate; Stiffness modeling; Virtual springs; Jacobian matrix; Twist and wrench mapping model
National Category
Applied Mechanics
Identifiers
URN: urn:nbn:se:kth:diva-249534DOI: 10.1007/978-981-10-2875-5_85ISI: 000401118800085Scopus ID: 2-s2.0-84998698817ISBN: 978-981-10-2874-8 (print)OAI: oai:DiVA.org:kth-249534DiVA, id: diva2:1304617
Note

QC 20190822

Available from: 2019-04-12 Created: 2019-04-12 Last updated: 2019-08-22Bibliographically approved

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Lian, Binbin
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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  • nn-NB
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  • Other locale
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