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题名: Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg
作者: Lu Y(路懿) ; Yu JJ(于晶晶) ; Chen LW(陈立伟) ; Hu B(胡波) ; Zhang XL(张秀礼) ; Han JD(韩建达) ; Sui CP(隋春平)
作者部门: 机器人学研究室
关键词: Finite element method ; Manipulators ; Stiffness ; Stiffness matrix
刊名: International Journal of Robotics and Automation
ISSN号: 0826-8185
出版日期: 2014
卷号: 29, 期号:1, 页码:23-31
收录类别: SCI ; EI
产权排序: 2
摘要: The stiffness and elastic deformation of a 3-leg 5-DoF parallel manipulator (PM) with asymmetrical structure and composite active legs are studied systematically. First, a 3-leg 5-DoF 2SPS+PRRPR PM with asymmetrical structure and composite active legs is constructed and its structure constraint characteristics are analyzed. Second, the formulae are derived for solving the elastic deformation and the compliance matrix of the asymmetrical active legs, an asymmetrical stiffness matrix is established for this PM and the elastic deformations of moving platform and legs are solved and analyzed. Finally, a finite element (FE) model of this PM is constructed and the simulation solutions of the elastic deformations of the moving platform are obtained and analyzed. The analytic solutions of the elastic deformations of this PM are verified by its FE simulation solutions.
WOS记录号: WOS:000330419200003
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Robotics
关键词[WOS]: MECHANISM
研究领域[WOS]: Automation & Control Systems ; Robotics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14714
Appears in Collections:机器人学研究室_期刊论文

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