A new approach to enhance the stiffness of heavy-load parallel robots by means of the component selection

被引:13
作者
Fan Shuai [1 ]
Fan Shouwen [1 ]
Lan Weibin [1 ]
Song Guangkui [2 ]
机构
[1] Univ Elect Sci & Technol China, Sch Mech & Elect Engn, Chengdu 611731, Sichuan, Peoples R China
[2] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China
基金
中国国家自然科学基金;
关键词
Stiffness enhancement; Parallel robot; Machine tool; Component selection; Stiffness index; MULTIOBJECTIVE OPTIMIZATION; OPTIMAL-DESIGN; MANIPULATOR; WORKSPACE; MECHANISM;
D O I
10.1016/j.rcim.2019.101834
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
Stiffness enhancement is one of the most crucial issues for the parallel robots as machine tools. Different from the previous methods including the structural comparison and dimensional synthesis, a new approach to enhance the stiffness of heavy-load parallel robots from the direction of component selection is proposed in this paper. To contain the main parameters of components, an overall stiffness matrix is proposed, where the effects of link deformations and joint clearances are considered. In order to meet the stiffness requirements of the machine tool in practical machining directions, a new stiffness index and an objective function are also derived on the basis of the overall stiffness model. In addition, since the number of component parameters is huge, particle swarm optimization technology is utilized to obtain the appropriate results. Finally, two examples of the A3 head and the Tricept based are presented to demonstrate the practicability of the proposed enhancement approach. According to the results of numerical examples, it shows that the proposed approach is feasible, and it can further enhance the stiffness of parallel robots after the structural comparison and dimensional synthesis.
引用
收藏
页数:12
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