Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail

Laryushkin, P. A.; Антонов, А. В.; Fomin, Alexey; Glazunov, Victor

doi:10.3390/robotics11020030

Cited by 9 publications

(1 citation statement)

References 35 publications

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“…In many modern applications, such as manufacturing robots 1 , 2 , bionic robots 3 , 4 , medical robots 5 , 6 and aeronautical robots 7 , 8 , the mechanism is subject to external payloads and gravity of its own components which in turn induce deformations causing positioning errors. In order to improve motion accuracy and machining accuracy, stiffness analysis becomes an important solution.…”

Section: Introductionmentioning

confidence: 99%

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

Guan

Zou

et al. 2023

Sci Rep

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For the machining process of industrial parallel robots, the gravity generated by the weight of mobile platform and links will lead to the deviation of the expected machining trajectory of the tool head. In order to evaluate this deviation and then circumvent it, it is necessary to perform the robotic stiffness model. However, the influence of gravity is seldom considered in the previous stiffness analysis. This paper presents an effective stiffness modeling method for industrial parallel robots considering the link/joint compliance, the mobile platform/link gravity, and the mass center position of each link. First, the external gravity corresponding to each component is determined by the static model under the influence of gravity and mass center position. Then, the corresponding Jacobian matrix of each component is obtained by the kinematic model. Subsequently, the compliance of each component is obtained by cantilever beam theory and FEA-based virtual experiments. In turn, the stiffness model of the whole parallel robot is determined and the Cartesian stiffness matrix of the parallel robot is calculated at several positions. Moreover, the principal stiffness distribution of the tool head in each direction over the main workspace is predicted. Finally, the validity of the stiffness model with gravity is experimentally proved by the comparison of the calculated stiffness and measured stiffness in identical conditions.

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