Stiffness analysis of parallel manipulators with linear limbs by considering inertial wrench of moving links and constrained wrench. (August 2017)

• Record Type: Journal Article
• Authors: Lu, Yi; Dai, Zhuohong; Ye, Nijia
• Is Part Of: Robotics and computer-integrated manufacturing. Volume 46(2017)
• Page Start: 58
• Page End: 67
• Publication Date: 2017-08
• Subjects: Parallel manipulator -- Stiffness -- Elastic deformation -- Inertial wrench -- Dynamic active and constrained wrench; Robots, Industrial -- Periodicals; Computer integrated manufacturing systems -- Periodicals; Robotics -- Periodicals; Robots industriels -- Périodiques; Productique -- Périodiques; Robotique -- Périodiques; 670.285
• DOI: 10.1016/j.rcim.2016.12.003
• Languages: English
• ISSNs: 0736-5845

Abstract

Abstract: A stiffness of the parallel manipulators with linear limbs is analyzed by considering the inertial wrench of the moving links and the constrained wrench. First, a formula is derived for solving the dynamic active and constrained wrenches, the inertial wrench of moving links based on the principle of virtual work. Second, the relationship between the elastic deformations of limbs and the dynamic active/constrained wrench and the inertial wrench of moving links are discovered and analyzed. Third, a unified stiffness model of parallel manipulators is established by considering the inertial wrench of moving links and the dynamic active/constrained wrench. Fourth, a unified formula is derived for solving the elastic deformations of the moving platform by considering the inertial wrench of the moving links and the dynamic active/constrained wrenches. Finally, an analytic numerical example of the 3SPR-type parallel manipulator is given for solving its stiffness and elastic deformation. The correctness of derived formulae of the stiffness and the elastic deformations are verified by the analytic numerical solutions. Highlights: Derive formula of dynamic wrenches, inertial wrench of parallel manipulators. Discoverer relationship between deformations and dynamic and inertial wrench. Establish unified whole dynamic stiffness modeling of parallel manipulators. Derive unified formula for solving elastic deformations by considering inertial wrench. Give numerical example of 3SPR PM for solving dynamic stiffness, elastic deformation.