A virtual joint method of analytical form for parallel manipulators. (December 2021)

• Record Type: Journal Article
• Authors: Zhang, Hui; Xu, Zhenbang; Han, Hasiaoqier; Han, Chunyang; Yu, Yang; Xia, Mingyi
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 235:Number 23(2021)
• Page Start: 6893
• Page End: 6907
• Publication Date: 2021-12
• Subjects: Virtual joint method -- parallel manipulators -- stiffness analysis -- projectors -- effective stiffness tensor; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/09544062211016076
• Languages: English
• ISSNs: 0954-4062

Abstract

Oriented towards the stiffness optimization of parallel manipulators, a stiffness modeling method based on subspace analysis was proposed. The paper revealed the "shielding effect" of passive joints, i.e. shielding the partial local stiffness of a mechanism on Cartesian space, and accordingly brought forward the concept of Effective Stiffness Tensor (EST), which was then obtained by introducing the orthogonal projector. The method allows a stiffness model of analytical form as well as high computation efficiency, which makes it suitable for applications in the stiffness optimization of parallel manipulators. Proposed method had been applied to the parallel alignment mechanism in China's large space telescope and verified by dynamic experiments.