Stiffness estimation of a tripod-based parallel kinematic machine
Stiffness estimation of a tripod-based parallel kinematic machine
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DOI：
10.1109/robot.2001.933124
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发表时间：
2001-05
期刊：
影响因子：
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通讯作者：
Tian Huang;Xingyu Zhao;D. Whitehouse
中科院分区：
文献类型：
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作者：
Tian Huang;Xingyu Zhao;D. Whitehouse
本文提出了一种简单而全面的方法，能够快速估计基于三脚架的并联机床的刚度。该方法可以通过两个步骤来实现。在第一步中，将机床结构分解为与机床框架和并联机构相关联的两个子结构。假设另一个子结构中的部件是刚性的，建立了每个子结构的刚度模型。这之后是第二步，使得机器结构的刚度模型可以通过线性叠加来获得。描述了可用工作空间内刚度分布的三维表示，并与通过有限元分析得到的结果进行了比较。
This paper presents a simple yet comprehensive approach that enables the stiffness of a tripod-based parallel kinematic machine to be quickly estimated. The approach can be implemented by two steps. In the first step, the machine structure is decomposed into two substructures associated with the machine frame and the parallel mechanism. The stiffness model of each substructure is formulated by assuming that the components in the other substructure are rigid. This is followed by the second step that enables the stiffness model of the machine structure to be achieved by linear superposition. A 3D representation of the stiffness distributions within the usable workspace are depicted with comparison to those obtained through the finite element analysis.