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Static Stiffness Modeling of the Prismatic Joint of a Modular Reconfigurable Robot
Pan XA(潘新安); Wang HG(王洪光); Hu MW(胡明伟); Tian Y(田勇)
作者部门空间自动化技术研究室
会议名称2017 IEEE International Conference on Robotics and Biomimetics
会议日期December 5-8, 2017
会议地点Macau, China
会议主办者Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
会议录名称Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地New York
2017
页码2468-2473
收录类别EI
EI收录号20182905576832
产权排序1
ISBN号978-1-5386-3741-8
关键词Static Stiffness Modular Reconfigurable Robot Finite Element Mechanical Drive System
摘要

This paper presents a complete static stiffness model of the prismatic joint of a modular reconfigurable robot based on the finite-element-and-analytical combined method. The stiffness of the mechanical drive system was analyzed, and its tension and compression stiffness, which can be expressed by a formula, was obtained. The stiffness of the mechanical structure was extracted by employing the finite element method. The additional stiffness due to translational motion of the joint was analyzed. Then the comprehensive stiffness of the joint was obtained by combing the above stiffness parts. A simulation, which consists of four working conditions, was conducted, and the results show that the proposed method is valid.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21319
专题空间自动化技术研究室
通讯作者Pan XA(潘新安)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Pan XA,Wang HG,Hu MW,et al. Static Stiffness Modeling of the Prismatic Joint of a Modular Reconfigurable Robot[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:2468-2473.
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