Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series

被引：44

作者：

Hu, Bo ^{[1
]}

Yu, Jingjing ^{[1
]}

Lu, Yi ^{[1
]}

Sui, Chunping ^{[2
]}

Han, Jianda ^{[2
]}

机构：

[1] Yanshan Univ, Robot Res Ctr, Qinhuangdao 066004, Hebei, Peoples R China

[2] Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Liaoning, Peoples R China

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2012年 / 4卷 / 02期

关键词：

serial-parallel manipulator; kinematics; statics; stiffness; KINEMATICS; DYNAMICS; INVERSE;

D O I：

10.1115/1.4006190

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs. [DOI: 10.1115/1.4006190]

引用

页数：8

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