Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation
A six degree of freedom 4-PRP+3-UPS&PU redundant hybrid machine tool is proposed,and the statics and static stiffness of the machine tool is studied. Firstly,based on the force Jacobi matrix,the static equilibrium equation is presented,and the mapping matrix between the external load and the...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.006 |
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| author | Liu Na Mei Ying Chen Jingyao Liu Xingfang |
| author_facet | Liu Na Mei Ying Chen Jingyao Liu Xingfang |
| author_sort | Liu Na |
| collection | DOAJ |
| description | A six degree of freedom 4-PRP+3-UPS&PU redundant hybrid machine tool is proposed,and the statics and static stiffness of the machine tool is studied. Firstly,based on the force Jacobi matrix,the static equilibrium equation is presented,and the mapping matrix between the external load and the driving force and the binding force of the branch is solved. Secondly,the binding screw provided by each drive branch and constraint branch is analyzed,the elastic deformation of each rod under the action of the constraint screw is calculated. Finally,the stiffness model of the mechanism is established,and the elastic deformation of each branch is superposed,and then the overall flexibility and stiffness matrix of the mechanism are obtained. Combined with numerical examples,the MATLAB software is used to calculate the curves of the elastic deformation of each driving and moving platform with the length of the drive rod. |
| format | Article |
| id | doaj-art-b3de1ad489f64eb28fd7d313ada934f1 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b3de1ad489f64eb28fd7d313ada934f12025-01-10T14:21:29ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141303529932511Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant ActuationLiu NaMei YingChen JingyaoLiu XingfangA six degree of freedom 4-PRP+3-UPS&PU redundant hybrid machine tool is proposed,and the statics and static stiffness of the machine tool is studied. Firstly,based on the force Jacobi matrix,the static equilibrium equation is presented,and the mapping matrix between the external load and the driving force and the binding force of the branch is solved. Secondly,the binding screw provided by each drive branch and constraint branch is analyzed,the elastic deformation of each rod under the action of the constraint screw is calculated. Finally,the stiffness model of the mechanism is established,and the elastic deformation of each branch is superposed,and then the overall flexibility and stiffness matrix of the mechanism are obtained. Combined with numerical examples,the MATLAB software is used to calculate the curves of the elastic deformation of each driving and moving platform with the length of the drive rod.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.006Redundant driveHybrid machine toolConstraint wrenchStiffness analysis |
| spellingShingle | Liu Na Mei Ying Chen Jingyao Liu Xingfang Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation Jixie chuandong Redundant drive Hybrid machine tool Constraint wrench Stiffness analysis |
| title | Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation |
| title_full | Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation |
| title_fullStr | Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation |
| title_full_unstemmed | Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation |
| title_short | Stiffness Analysis of 4-PRP+3-UPS&PU Hybrid Machine Tool with Redundant Actuation |
| title_sort | stiffness analysis of 4 prp 3 ups amp pu hybrid machine tool with redundant actuation |
| topic | Redundant drive Hybrid machine tool Constraint wrench Stiffness analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.09.006 |
| work_keys_str_mv | AT liuna stiffnessanalysisof4prp3upsamppuhybridmachinetoolwithredundantactuation AT meiying stiffnessanalysisof4prp3upsamppuhybridmachinetoolwithredundantactuation AT chenjingyao stiffnessanalysisof4prp3upsamppuhybridmachinetoolwithredundantactuation AT liuxingfang stiffnessanalysisof4prp3upsamppuhybridmachinetoolwithredundantactuation |