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Spatial Static Stiffness Analysis of 2-DOF Translational Parallel Robots


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Spatial Static Stiffness Analysis of 2-DOF Translational Parallel Robots
PENG Bin-binLI Zeng-mingWU KaiSUN Yu
School of Mechanical Engineering,NUST,Nanjing 210094,China
parallel robots static stiffness virtual mechanism method superposition principle orthogonal transformation method
To improve the accuracy of static stiffness analysis for a kind of two-degree-of-freedom(DOF) translational parallel robot,a six-dimension space static stiffness model is established,and the main stiffness and main direction are evaluated.Considering the effects of the driving stiffness,structure stiffness of the mechanism and spatial external load on the static stiffness of the mechanism,the compound limbs and ball screws of the mechanism are analyzed by the static analysis,and the corresponding deformations are calculated.The pose deformations of the moving platform caused by compound limbs and ball screws are obtained using the virtual mechanism method and according to the velocity mapping relation between input and output.The total deformations of the mechanism are derived through the superposition principle at small strain.According to the relationships between the spatial external load and the total deformation of the mechanism,the total spatial static stiffness model of the mechanism is established.The stiffness characteristics of the maximum and minimum angle displacement and line displacement for the mechanism are discussed based on the orthogonal transformation method.The results show that:the static stiffness of the two DOF planar translational parallel robot is six-dimension,the static stiffness along the axis of guide is isotropy,and the static stiffness perpendicular to the axis of guide is related to the position at the direction.


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Last Update: 2012-10-12