Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
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DOI：
10.5772/59306
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发表时间：
2014-10
影响因子：
2.3
通讯作者：
Guang Yu;Jun Wu;Liping Wang
中科院分区：
文献类型：
--
作者：
Guang Yu;Jun Wu;Liping Wang
研究了一种带两个附加腿的三自由度并联机器人的刚度建模问题。通过对关节连接自由度的缩聚和固定端连接的处理，推导了具有两个附加腿的三自由度并联机器人的六个方向刚度模型。此外，这种建模方法被用来推导出的刚度模型的机械手与零/一个额外的腿。给出了两个性能指标来比较两个附加腿并联机器人与零/一个附加腿并联机器人的刚度。该方法不仅可用于冗余度并联机器人的刚度建模，而且可用于非冗余度并联机器人的刚度建模。
This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the manipulator with zero/one additional legs. Two performance indices are given to compare the stiffness of the parallel manipulators with two additional legs with those of the manipulators with zero/one additional legs. The method not only can be used to derive the stiffness model of a redundant parallel manipulator, but also to model the stiffness of non-redundant parallel manipulators.