A methodology for static stiffness mapping in lower mobility parallel manipulators with decoupled motions
A methodology for static stiffness mapping in lower mobility parallel manipulators with decoupled motions
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DOI：
10.1017/s0263574709990403
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发表时间：
2009-09
期刊：
影响因子：
2.7
通讯作者：
Charles Pinto;J. Corral;O. Altuzarra;A. Hernández
中科院分区：
文献类型：
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作者：
Charles Pinto;J. Corral;O. Altuzarra;A. Hernández
摘要本文提出了一种获得低自由度并联机器人静态刚度图的一般方法。我们的主要目标是定义一组准则，这使得实验工作得到优化，计算时间减少。首先，一个两个自由度（DOF）机制将用于方法验证，因为它是要分析的机械手的基本运动链的刚度。该机制的两个数学模型和一个实验原型将被考虑用于验证。之后，该方法将被应用到一个较低的自由度（4-DOF）并联机器人。在本文中，实验原型和它的设置是非常重要的，因为一些特殊的功能的实验分析将被定义。本文介绍了一个关键的实验工具：预紧力，它允许考虑间隙和可能的装配误差。应用该程序的附加值是获得图形，该图形以直观和有用的方式描述了作为移动的平台位置和方向的函数的操纵器的刚度在其工作空间内的行为。
SUMMARY In this paper a general methodology for obtaining static stiffness maps in lower mobility parallel manipulators is proposed. The main objective is to define a set of guidelines, which allow the experimental work to be optimized and computational time to be reduced. First, a two-degree-of-freedom (DOF) mechanism will be used for methodology validation, since it is the stiffness of the basic kinematic chain of the manipulator that is to be analysed. Two mathematical models of this mechanism and an experimental prototype will be considered for the validation. After that, the methodology will be applied to a lower mobility (4-DOF) parallel manipulator. In this paper, the experimental prototype and its set-up is highly important because some particular features of the experimental analysis will be defined. This paper introduces a key experimental tool: the preload, which allows the clearances and possible assembling errors to be considered. The added value from the application of this procedure is the obtaining of graphs that describe, in an intuitive and useful way, the behaviour of the manipulator's stiffness inside its workspace as a function of the mobile platform position and orientation.