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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)
Department机器人学研究室
Source PublicationROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
ISSN0736-5845
2011
Volume27Issue:2Pages:418-425
Indexed BySCI ; EI
EI Accession number20104813429407
WOS IDWOS:000285677000021
Contribution Rank2
Funding OrganizationThe 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).
KeywordSerial-parallel Manipulator Kinematics Statics Stiffness Matrix Elastic Deformation
Abstract

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. 

Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS KeywordKinematic Analysis ; Screw Theory ; Active Legs ; Mechanism ; Dynamics ; Workspace ; Machine ; Design
WOS Research AreaComputer Science ; Engineering ; Robotics
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/10130
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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