Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations
Chao Yang,
Wenyong Yu,
Wei Ye
et al.
Abstract:The establishment of an elastostatic stiffness model for over constrained parallel manipulators (PMs), particularly those with over constrained subclosed loops, poses a challenge while ensuring numerical stability. This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis (MSA) and independent displacement coordinates (IDCs) extraction techniques. To begin, the closed-loop PM is transformed into an open-loop PM by eliminating constraints. A subas… Show more
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