Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity
Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity
复制标题
考虑重力的3-SPR并联机构柔度分析
DOI：
10.1016/j.mechmachtheory.2014.10.002
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发表时间：
2015-02-01
影响因子：
5.2
通讯作者：
Chetwynd, Derek G.
中科院分区：
文献类型：
--
作者：
Wang, Manxin;Liu, Haitao;Chetwynd, Derek G.
在考虑重力和关节/连杆柔度的情况下，本文提出了一种半解析方法来分析飞机工业中用于高速加工和强制装配的五自由度混合机械臂主体的3-SPR并联机构的柔度。该方法分三个步骤实现：(1)静力分析，考虑施加在平台上的外部扳手和所有移动部件的重力；(2)兼顾节点和连杆柔度的挠度分析；(3)用半解析方法构造构件柔度矩阵。这种方法的优点是，可以有效地评估给定任务工作空间内由有效载荷和重力引起的平台偏转。计算结果表明，运动部件的重力引起的挠度对末端执行器的位姿精度有很大影响。(C) 2014 Elsevier Ltd.版权所有。
By taking gravity and joint/link compliances into account, this paper presents a semi-analytical approach for compliance analysis of a 3-SPR parallel mechanism which forms the main body of a 5-DOF hybrid manipulator especially designed for high-speed machining and forced assembling in the aircraft industry. The approach is implemented in three steps: (1) kinetostatic analysis that considers both the externally applied wrench imposed upon the platform and the gravity of all moving components; (2) deflection analysis that takes both joint and link compliances into account; and (3) formulation of the component compliance matrices using a semi-analytical approach. The advantage of this approach is that the deflections of the platform caused by both the payload and gravity within the given task workspace can be evaluated in an effective manner. The computational results show that the deflection arising from gravity of the moving components may have significant influence on the pose accuracy of the end-effector. (C) 2014 Elsevier Ltd. All rights reserved.