KINEMATICS AND STIFFNESS ANALYSIS OF A NOVEL 4-DOF OVER-CONSTRAINED PARALLEL MECHANISM WITH THREE LEGS

被引：0
|
作者：
Zhang, Xingchao [1 ,2 ]
Wang, Hongbo [1 ,2 ,3 ]
Rong, Yu [4 ]
Niu, Jianye [1 ,2 ]
Tian, Junjie [1 ,2 ]
Ning, Yuansheng [1 ,2 ]
机构：
[1] Yanshan Univ, Hebei Prov Key Lab Parallel Robot & Mechatron Syst, Qinhuangdao 066004, Peoples R China
[2] Yanshan Univ, Key Lab Adv Forging & Stamping Technol & Sci, Minist Educ China, Qinhuangdao 066004, Peoples R China
[3] Fudan Univ, Acad Engn & Technol, Shanghai 200433, Peoples R China
[4] Yanshan Univ, Coll Vehicles & Energy, Qinhuangdao 066004, Hebei, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2023年 / 38卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Parallel mechanism; over-constrained; kinematics analysis; stiffness analysis; MANIPULATORS; DESIGN; OPTIMIZATION;
D O I：
10.2316/J.2023.206-0878
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the kinematics and stiffness of a novel 4-degreeFirst, a novel over-constrained 2RPU+PRPU PM consisting of two revolute-prismatic-universal (RPU) type legs and one prismatic- U, and R represent the prismatic joint, universal joint, and revolute joint, respectively. Next, the configuration of the PM is described, the velocity constraint equation of 2RPU+PRPU PM is established, indexes. Finally, the stiffness model of the 2RPU+PRPU PM is design of PMs.
引用
收藏
页码：450 / 460
页数：11
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