Stiffness modeling of overconstrained parallel mechanisms under considering gravity and external payloads

Cao, Wen-ao; Ding, Huafeng; Zhu, Weiguo

doi:10.1016/j.mechmachtheory.2018.12.031

Cited by 16 publications

(13 citation statements)

References 25 publications

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“…With the same method in stiffness analysis in literature, 16 by adding inertia force into the stiffness model, the reaction force of the structure is analyzed and the elastodynamics equation is established. As shown in Figure 2, the limb structure has wrenches at three positions, the gravity and inertia wrench $ r1 at C r1 , the gravity and inertia wrench $ r2 at C r2 and the reaction force wrench $ r3 at B r .…”

Section: Inertia Force and Inertia Moment Of The Platformmentioning

confidence: 99%

Elastodynamics of an overconstrained 8-SS platform for touchdown impact force measurement

Zhou

Han

Guo

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Passive overconstrained parallel mechanism has many advantages due to extra constraints to the platform. When applied to the force sensor field, it can increase the capability, stiffness and dynamic response of the sensor. In this study, an overconstrained [Formula: see text] platform is presented to measure the multi-dimensional landing impact force. Screw theory is used to obtain the concentrated inertia force. Then, by adding the inertial force into the VJM (Virtual Joint Method) stiffness model, the static analysis is extended to elastodynamics analysis. Natural frequency and modal are derived from the elastodynamics equation and show well agreement with the FEA result in Abaqus. Theoretical force measurement equation is deduced. The FEA simulation result proves the effectiveness of the theoretical equation. Experiments are also conducted to verify the feasibility of the platform.

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Section: Inertia Force and Inertia Moment Of The Platformmentioning

confidence: 99%

Elastodynamics of an overconstrained 8-SS platform for touchdown impact force measurement

Zhou

Han

Guo

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…where γ is the energy index [5,7,11,52]. Unfortunately, all the above indices are computed numerically.…”

Section: Performance Indices In the Literaturementioning

confidence: 99%

A New Stiffness Performance Index: Volumetric Isotropy Index

Görgülü

Dede

2019

Machines

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“…Several approaches can be applied to calculate the stiffness matrix. These approaches mainly differ in the model assumptions and computational techniques [35][36][37][38] . Reviewing the literature indicates that the finite element method (FEM) [39,40] , matrix structure method (MSM) [41] , virtual joints method (JVM) [42][43][44] , and screw-based method (SBM) [45][46][47][48][49] are the most commonly used approaches in this regard.…”

Section: Introductionmentioning

confidence: 99%

“…Cao et al [58,59] obtained the stiffness model of over-constrained parallel manipulators by using an energy method with less than 3% accuracy loss only under an external wrench. Cao et al [60] extended the approach considering the weights of the links in which the weight of each limb is distributed between the mobile platform frame and the base. Finally, Klimchik et al [61] derived the stiffness model of NAVARO II, which is a novel variable actuation mechanism based on active and passive pantographs.…”

Section: Introductionmentioning

confidence: 99%

Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

et al. 2023

Preprint

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Currently, two rotations and one translation (2R1T) three-degree-of-freedom (DOF) parallel mechanisms (PMs) are widely applied in five-DOF hybrid machining robots. However, there lacks an effective method to evaluate the configuration stiffness of mechanisms during the mechanism design stage. It is a challenge to select appropriate 2R1T PMs with excellent stiffness performance during the design stage. Considering the operational status of 2R1T PMs, the bending and torsional stiffness are considered indices to evaluate PMs' configuration stiffness. Then a specific method is proposed to calculate these stiffness indices. At first, each branch's different types of structural and driving stiffness are judged initially, and their specific values are defined. Then the rigid-flexible coupled force model of the over-constrained 2R1T PM is established, and the proposed evaluation method is used to analyze the configuration stiffness of the five 2R1T PMs in the entire workspace. Finally, the driving force and constraint force of each branch in the whole working space are calculated to further explain the stiffness evaluating results by using the proposed method above. Obtained results demonstrate that the bending and torsional stiffness of the 2RPU/UPR/RPR mechanism along the x- and y-directions are larger than the other four mechanisms.

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Stiffness modeling of overconstrained parallel mechanisms under considering gravity and external payloads

Cited by 16 publications

References 25 publications

Elastodynamics of an overconstrained 8-SS platform for touchdown impact force measurement

Elastodynamics of an overconstrained 8-SS platform for touchdown impact force measurement

A New Stiffness Performance Index: Volumetric Isotropy Index

Evaluation on Configuration Stiffness of Overconstrained 2R1T Parallel Mechanisms

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