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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)
Department空间自动化技术研究室
Conference Name2017 IEEE International Conference on Robotics and Biomimetics
Conference DateDecember 5-8, 2017
Conference PlaceMacau, China
Author of SourceBeijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
Source PublicationProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2017
Pages2468-2473
Indexed ByEI
EI Accession number20182905576832
Contribution Rank1
ISBN978-1-5386-3741-8
KeywordStatic Stiffness Modular Reconfigurable Robot Finite Element Mechanical Drive System
Abstract

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.

Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21319
Collection空间自动化技术研究室
Corresponding AuthorPan XA(潘新安)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
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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