Kinetostatic model of overconstrained lower mobility parallel manipulators

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• 作者：Bo Hu ; Zhen Huang
• 关键词：Parallel manipulator ; Overconstrained PM ; Kinetostatic
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：October 2016
• 年：2016
• 卷：86
• 期：1
• 页码：309-322
• 全文大小：1,126 KB
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：86

文摘

The kinetostatic model of overconstrained lower mobility parallel manipulators (PMs) is established in this paper. Based on this model, the actuator wrenches and the constrained wrenches can be completely derived, and the stiffness and the deformation of each leg and the moving platform can be obtained. A novel 2-RPU \(+\) UPR (revolute joint-prismatic joint-universal joint+universal joint-prismatic joint-revolute joint) PM is presented to illustrate the approach to solving the kinetostatic of overconstrained PMs. Due to the particular arrangement of the joints in each legs, this PM provides six constraints to the moving platform, whereas three of them are overconstraints. The detailed kinetostatic of this PM is obtained based on the established model. The unified stiffness finite element (FE) model for various PMs is established, and the stiffness of the 2-RPU \(+\) UPR PM is verified.