Journal ArticleDOI
A method for stiffness analysis of overconstrained parallel robotic mechanisms with Scara motion
TLDR
In this article, the stiffness model of a limb is derived by applying Castigliano's second theorem to strain energy of the limb with a structural decomposition strategy, and the stiffness matrix of a parallel mechanism is established based on stiffness models of limbs and the static equilibrium equation of the moving platform.Abstract:
This paper presents a general method for analyzing stiffness of overconstrained parallel robotic mechanisms with Scara motion. In the method, the stiffness model of a limb is derived by applying Castigliano's second theorem to strain energy of the limb with a structural decomposition strategy, and the stiffness matrix of a parallel mechanism is established based on stiffness models of limbs and the static equilibrium equation of the moving platform. Comparisons show that the stiffness model obtained from the proposed method is very close to the counterpart obtained from finite element analysis (FEA). In addition, a new index is proposed to evaluate stiffness performance of a parallel mechanism in a given configuration based on strain energy under external unit forces and moments. With this index, the dimensions of a parallel mechanism can be optimized and the path of a given task can be planned to obtain high stiffness.read more
Citations
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Journal ArticleDOI
Stiffness modeling and analysis of a novel 5-DOF hybrid robot
TL;DR: A semi-analytic stiffness model of the robot is formulated by taking into account the component compliances associated with the elements of both the parallel mechanism and the wrist, resulting in the Cartesian stiffness matrix that can explicitly be expressed in terms of the compliance matrices down to the joint and link level.
Journal ArticleDOI
Kinematics and dynamics of a 4-PRUR Schönflies parallel manipulator by means of screw theory and the principle of virtual work
TL;DR: In this paper, the kinematics and dynamics of a 4-P RUR parallel manipulator with actuated prismatic joints performing the 3T1R motion are investigated by means of the theory of screws and the principle of virtual work.
Journal ArticleDOI
On the stiffness analysis of robotic manipulators and calculation of stiffness indices
TL;DR: In this article, the authors introduced new performance indices for robotic manipulators in order to evaluate the robot stiffness at the design embodiment stage, based on the calculation of the Cartesian stiffness matrix of a manipulator based on a matrix structural analysis methodology.
Journal ArticleDOI
Multi-objective optimization of parallel manipulators using a game algorithm
TL;DR: In this paper, a multi-objective optimization game algorithm (MOOGA) for parallel manipulators (PMs) is proposed, which considers the volume of the regular cylindrical workspace, motion/force transmission performance, and stiffness performance as objective functions.
Journal ArticleDOI
Stiffness modeling of n(3RRlS) reconfigurable series-parallel manipulators by combining virtual joint method and matrix structural analysis
TL;DR: It can be concluded that increasing actuation constraints can effectively improve the stiffness of manipulators in the directions of six degrees of freedom (DOFs) while increasing structural constraints can effective improve the stiffness of manipulator in the direction of constrained DOFs.
References
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Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Journal ArticleDOI
Stiffness mapping for parallel manipulators
TL;DR: The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator, which reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulation.
Journal ArticleDOI
Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi,Lung-Wen Tsai +1 more
TL;DR: In this article, the authors presented a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators, which is defined as a spatial parallel manipulator with less than six degrees of freedom.
Journal ArticleDOI
Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method:
Zhen Huang,Q. C. Li +1 more
TL;DR: The difficult problem of how to correctly apply the general Grübler-Kutzbach criterion to lower-mobility PMs is solved and a mobility analysis of PMs with a closed loop in the limbs is presented to demonstrate the validity.
Journal ArticleDOI
Stiffness analysis of overconstrained parallel manipulators
TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
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