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题名: Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator
作者: 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
刊名: ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
ISSN号: 0736-5845
出版日期: 2011
卷号: 27, 期号:2, 页码:418-425
收录类别: SCI ; EI
产权排序: 2
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记录号: WOS:000285677000021
WOS标题词: Science & Technology ; Technology
类目[WOS]: Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
关键词[WOS]: KINEMATIC ANALYSIS ; SCREW THEORY ; ACTIVE LEGS ; MECHANISM ; DYNAMICS ; WORKSPACE ; MACHINE ; DESIGN
研究领域[WOS]: Computer Science ; Engineering ; Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10130
Appears in Collections:机器人学研究室_期刊论文

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