Stiffness modeling approach for a 3-DOF parallel manipulator with consideration of nonlinear joint stiffness
Stiffness modeling approach for a 3-DOF parallel manipulator with consideration of nonlinear joint stiffness
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考虑非线性关节刚度的三自由度并联机械臂刚度建模方法
DOI：
10.1016/j.mechmachtheory.2018.01.005
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发表时间：
2018-05
影响因子：
5.2
通讯作者：
Congjun Hu
中科院分区：
文献类型：
--
作者：
Guang Yu;Liping Wang;Jun Wu;Dong Wang;Congjun Hu
考虑节点的非线性特性，提出了一种将有限元分析与矩阵结构分析相结合的综合刚度分析方法。基于三自由度过约束并联机器人的力/力矩平衡方程，提出了一种求解关节内力的方法。通过计算关节内力作用下支座的刚度，推导出转动关节和组合球关节的刚度矩阵。通过将结构模型导入有限元软件进行虚拟实验，提出了基于有限元分析的多节点构件刚度矩阵识别方法。然后，综合各构件和关节的刚度矩阵，得到整个机械臂的刚度矩阵，并将由刚度模型计算得到的理论刚度映射到工作空间中。最后，通过物理样机实验验证了刚度分析方法的正确性.
Considering the nonlinear characteristics of joint, this paper proposes a new comprehensive stiffness analysis method by combining finite element analysis and matrix structural analysis. Based on the force/moment equilibrium equations of a 3-DOF over-constrained parallel manipulator, a method for solving the internal forces of the joints is proposed. By calculating the stiffness of the bearing under the action of joint internal forces, the stiffness matrix of the revolute joint and the composite spherical joint can be derived. The FEA-based identification method for the stiffness matrix of multi-node components is proposed by importing the structural model into the finite element software for virtual experiments. Then, integrating the stiffness matrices of components and joints, the stiffness matrix of the whole manipulator can be derived and the theoretical stiffness computed from the stiffness model is mapped in the workspace. Finally, the stiffness analysis method is verified by experiments in the physical prototype.
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影响因子：
2.3
作者：
Guang Yu;Jun Wu;Liping Wang
通讯作者：
Guang Yu;Jun Wu;Liping Wang
影响因子：
1.5
作者：
D. Stewart
通讯作者：
D. Stewart
影响因子：
5.2
作者：
Taghvaeipour, Afshin;Angeles, Jorge;Lessard, Larry
通讯作者：
Lessard, Larry
影响因子：
5.2
作者：
Wang, Manxin;Liu, Haitao;Chetwynd, Derek G.
通讯作者：
Chetwynd, Derek G.
影响因子：
5.2
作者：
Y. Li;Haitao Liu;Xueman Zhao;Tian Huang;D. Chetwynd
通讯作者：
Y. Li;Haitao Liu;Xueman Zhao;Tian Huang;D. Chetwynd