Stiffness modeling and analysis of a novel 5-DOF hybrid robot

被引：62
作者：
Dong, Chenglin [1 ]
Liu, Haitao [1 ]
Yue, Wei [1 ]
Huang, Tian [1 ,2 ]
机构：
[1] Tianjin Univ, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300072, Peoples R China
[2] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England
来源：
MECHANISM AND MACHINE THEORY | 2018年 / 125卷
基金：
中国国家自然科学基金;
关键词：
Stiffness modeling; Screw theory; Hybrid robot; PARALLEL KINEMATIC MACHINE; OPTIMIZATION; MANIPULATOR; MECHANISMS; 3-DOF; TOOLS;
D O I：
10.1016/j.mechmachtheory.2017.12.009
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper deals with the stiffness modeling and analysis of a novel 5-DOF hybrid robot named TriMule which is composed of a 3-DOF positioning parallel mechanism plus a 2-DOF wrist. The robot is especially designed as a compact yet rigid module suitable for large part on-site machining. Mainly drawing on screw theory, a semi-analytic stiffness model of the robot is formulated by taking into account the component compliances associated with the elements of both the parallel mechanism and the wrist, resulting in the Cartesian stiffness matrix that can explicitly be expressed in terms of the compliance matrices down to the joint and link level. The stiffness distributions of the tool head over a prescribed task workspace are predicted and the contributions of joint/link compliances are evaluated using a set of global indices. (c) 2017 Elsevier Ltd. All rights reserved.
引用
收藏
页码：80 / 93
页数：14
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