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Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator
Hu B(胡波); Lu Y(路懿); Tan, Qing; Yu JP(于建平); Han JD(韩建达)
作者部门机器人学研究室
关键词Serial-parallel Manipulator Kinematics Statics Stiffness Matrix Elastic Deformation
发表期刊ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
ISSN0736-5845
2011
卷号27期号:2页码:418-425
收录类别SCI ; EI
EI收录号20104813429407
WOS记录号WOS:000285677000021
产权排序2
资助机构The authors would like to acknowledge the financial supports from the Natural Sciences Foundation Council of China (NSFC) 50575198 and Doctoral Fund from National Education Ministry no. 20060216006 and the Foundation of State Key Laboratory of Robotics (Shenyan Institute of Automation, Chinese Academy of Sciences).
摘要

A 2(SP+SPR+SPU) manipulator is a serial-parallel manipulator, which includes an upper manipulator and a lower manipulator. Its stiffness and elastic deformation are studied systematically in this paper. Firstly, a 2(SP+SPR+SPU) manipulator is constructed and its characteristics are analyzed. Secondly, the formulae for solving the elastic deformation and the compliance matrix of the active legs are derived and the elastic deformation and the total stiffness matrix of this manipulator are solved and analyzed. Finally, a finite element model of this manipulator is constructed and its elastic deformations are solved. The analytic solutions of elastic deformations of this manipulator are coincident with that of its finite element model. 

语种英语
WOS标题词Science & Technology ; Technology
WOS类目Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
关键词[WOS]Kinematic Analysis ; Screw Theory ; Active Legs ; Mechanism ; Dynamics ; Workspace ; Machine ; Design
WOS研究方向Computer Science ; Engineering ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10130
专题机器人学研究室
作者单位1.College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2.College of Foreign Studies, Yanshan University, Qinhuangdao, Hebei 066004, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning 110016, China
推荐引用方式
GB/T 7714
Hu B,Lu Y,Tan, Qing,et al. Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2011,27(2):418-425.
APA Hu B,Lu Y,Tan, Qing,Yu JP,&Han JD.(2011).Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,27(2),418-425.
MLA Hu B,et al."Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 27.2(2011):418-425.
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