Kinetostatic model of overconstrained lower mobility parallel manipulators

被引：41

作者：

Hu, Bo ^{[1
,2
]}

Huang, Zhen ^{[1
,2
]}

机构：

[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China

[2] Yanshan Univ, Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Hebei, Peoples R China

来源：

NONLINEAR DYNAMICS | 2016年 / 86卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Parallel manipulator; Overconstrained PM; Kinetostatic; DESIGN; ROBOT;

D O I：

10.1007/s11071-016-2890-2

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The kinetostatic model of overconstrained lower mobility parallel manipulators (PMs) is established in this paper. Based on this model, the actuator wrenches and the constrained wrenches can be completely derived, and the stiffness and the deformation of each leg and the moving platform can be obtained. A novel 2-RPU + UPR (revolute joint-prismatic joint-universal joint+universal joint-prismatic joint-revolute joint) PM is presented to illustrate the approach to solving the kinetostatic of overconstrained PMs. Due to the particular arrangement of the joints in each legs, this PM provides six constraints to the moving platform, whereas three of them are overconstraints. The detailed kinetostatic of this PM is obtained based on the established model. The unified stiffness finite element (FE) model for various PMs is established, and the stiffness of the 2-RPU + UPR PM is verified.

引用

页码：309 / 322

页数：14

共 27 条

[1] Singularity analysis of 3T2R parallel mechanisms using Grassmann-Cayley algebra and Grassmann geometry [J].