Stiffness Analysis of a New Low Coupling 3T1R Asymmetrical Parallel Mechanism
Parallel robot manipulator with the function of space three translations and one rotation (3T1R) is widely used in industry because of its advantages of large working space, easy to realize high speed and low cost. The stiffness performance of a new 3T1R asymmetrical parallel mechanism is analyzed....
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| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.12.024 |
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| Summary: | Parallel robot manipulator with the function of space three translations and one rotation (3T1R) is widely used in industry because of its advantages of large working space, easy to realize high speed and low cost. The stiffness performance of a new 3T1R asymmetrical parallel mechanism is analyzed. Firstly, the topological structure of the mechanism is described. Secondly, based on the virtual spring method, the stiffness model of each branch is established and its stiffness matrix is solved. Then, the changing trend of torsional stiffness and linear stiffness of the Descartes stiffness matrix is analyzed, and the influence of redundant branches on the overall stiffness performance is discussed. Finally, the numerical value of the method is verified by the finite element analysis of ANSYS. The work lays a foundation for the structural design and prototype development of the parallel manipulator. |
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| ISSN: | 1004-2539 |