Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator
Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator
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DOI：
10.3390/machines10121219
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发表时间：
2022-12
期刊：
影响因子：
2.6
通讯作者：
Xinxue Chai;W. Ye;Qinchuan Li;Lingmin Xu
中科院分区：
文献类型：
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作者：
Xinxue Chai;W. Ye;Qinchuan Li;Lingmin Xu
冗余驱动并联机器人由于具有比非冗余驱动并联机器人更好的刚度而受到广泛关注。本文提出了一种分析弹性静力刚度建模和性能研究的2UPR-2 PRU PM与驱动冗余，它有两个旋转和一个平移自由度（U：万向节; P：移动关节; R：转动关节）。首先对位移反演算法进行了简要的回顾和验证。其次，利用应变能原理推导了UPR和PRU柱体的刚度矩阵，并推导了2UPR-2 PRU型永磁体的整体刚度矩阵。结合ANSYS软件，采用有限元分析方法，通过计算所选四种构型的变形，验证了刚度模型的正确性和通用性。最后，采用基于虚功的刚度指标对2UPR-2 PRU永磁机构的性能进行了评价，讨论了不同外载荷和工作高度对刚度性能的影响。给出了奇异位形与刚度指数之间的关系。本文所建立的2UPR-2 PRU驱动冗余永磁机构的刚度模型和性能分布可为实际应用提供参考。
Redundantly actuated parallel manipulators (PMs) have attracted a great deal of attention since they generally have better stiffness than non-redundantly actuated ones. This paper presents an analytical elastostatic stiffness modeling and performance study of a 2UPR–2PRU PM with actuation redundancy, which has two rotational and one translational degrees of freedom (U: universal joint; P: prismatic joint; R: revolute joint). First, the inverse displacement is reviewed and verified briefly. Second, the stiffness matrices of UPR and PRU limbs are deduced by using the principle of strain energy, followed by the overall stiffness matrix of the 2UPR–2PRU PM. Combined with the ANSYS software, the finite element analysis method is then used to verify the correctness and universality of the stiffness models by calculating the deformations of four selected configurations. Finally, the stiffness index based on the virtual work is used to evaluate the performance of the 2UPR–2PRU PM, and the influence of different external loads and operational heights on the stiffness performance is discussed. The relationship between singular configurations and the stiffness index is also presented. The stiffness models and performance distributions of the 2UPR–2PRU PM with actuation redundancy can provide references for the actual applications.