Stiffness Analysis of The 4-DOF Parallel Manipulator with Compound Spherical Joints

被引：1
|
作者：
Zhang Canguo [1 ]
Ni Xiaoyu [1 ]
Wang Shaolei [1 ]
Wang Jiuqiang [1 ]
Zhu Chunhua [1 ]
机构：
[1] Hebei Univ Architecture, Coll Mech Engn, Zhangjiakou, Peoples R China
来源：
2020 3RD WORLD CONFERENCE ON MECHANICAL ENGINEERING AND INTELLIGENT MANUFACTURING (WCMEIM 2020) | 2020年
关键词：
parallel manipulator; compound spherical joints; stiffness; constrained force;
D O I：
10.1109/WCMEIM52463.2020.00023
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A novel 4-DOF parallel manipulator with compound spherical joints is introduced. Its characteristics are analyzed according to the structure of the mechanism. In order to measure the influence of constraint force on the stiffness of the parallel manipulator. The 4-DOF parallel manipulators with compound spherical joints is equivalent to 6-DOF parallel manipulators. The kinematic model of the equivalent PM is built by vector method. Then the Stiffness model of the 4-DOF parallel manipulators is constructed. A finite element model of this parallel manipulators is constructed and the simulation solutions are obtained. The correctness of the stiffness model is verified, which provide the theoretical and technical foundations for its application.
引用
收藏
页码：82 / 86
页数：5
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