A method for stiffness analysis of overconstrained parallel robotic mechanisms with Scara motion

被引：35

作者：

Cao, Wen-ao ^{[1
]}

Yang, Donghao ^{[1
]}

Ding, Huafeng ^{[1
]}

机构：

[1] China Univ Geosci Wuhan, Sch Mech Engn & Elect Informat, Wuhan 430074, Hubei, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2018年 / 49卷

基金：

中国博士后科学基金;

关键词：

Stiffness analysis; Overconstrained parallel mechanism; Scara motion; Strain energy; Stiffness index; MOBILITY; OPTIMIZATION; MANIPULATOR; PLATFORM; MACHINE;

D O I：

10.1016/j.rcim.2017.08.014

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents a general method for analyzing stiffness of overconstrained parallel robotic mechanisms with Scara motion. In the method, the stiffness model of a limb is derived by applying Castigliano's second theorem to strain energy of the limb with a structural decomposition strategy, and the stiffness matrix of a parallel mechanism is established based on stiffness models of limbs and the static equilibrium equation of the moving platform. Comparisons show that the stiffness model obtained from the proposed method is very close to the counterpart obtained from finite element analysis (FEA). In addition, a new index is proposed to evaluate stiffness performance of a parallel mechanism in a given configuration based on strain energy under external unit forces and moments. With this index, the dimensions of a parallel mechanism can be optimized and the path of a given task can be planned to obtain high stiffness. (C) 2017 Elsevier Ltd. All rights reserved.

引用

页码：426 / 435

页数：10

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