Modeling and performance analysis of elastostatic stiffness of kinematically redundant parallel mechanisms

被引：1
作者：
Wu, Zhen [1 ,2 ]
Chen, Qiaohong [3 ]
Ye, Wei [1 ,4 ]
机构：
[1] Zhejiang Sci Tech Univ, Sch Mech Engn, Hangzhou, Peoples R China
[2] Zhejiang Inst Commun, Hangzhou, Peoples R China
[3] Zhejiang Sci Tech Univ, Sch Comp Sci & Technol, Hangzhou, Peoples R China
[4] Zhejiang Sci Tech Univ, Sch Mech Engn, 928 2nd St, Hangzhou 310018, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2024年 / 238卷 / 01期
关键词：
Parallel mechanism; kinematically redundant; elastostatic stiffness; stiffness performance; KINETOSTATIC-MODEL; MANIPULATOR; OPTIMIZATION; DESIGN; DYNAMICS;
D O I：
10.1177/09544062231167023
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
An analytical elastostatic stiffness modeling approach for kinematically redundant parallel mechanisms (KR-PMs) according to screw theory and the second theorem of Castigliano is proposed. The 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs are used as two examples of KR-PMs to validate the precision of the proposed approach. The relative error is less than 1.55% when the theoretical model is compared to the FEA model. The PM's stiffness performance is assessed using the minimum linear displacement stiffness performance index, which is based on the theoretical model. By integrating Particle Swarm Optimization (PSO) with polynomial fitting technology, an analytical mapping model of the response surface between the optimal actuating distances and the moving platform (MP)'s given position and orientation is established. It is demonstrated that 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs can significantly enhance the stiffness performance when compared to the stiffness performance of 2-UPR/RPU PM.
引用
收藏
页码：123 / 137
页数：15
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