Modeling and performance analysis of elastostatic stiffness of kinematically redundant parallel mechanisms-Reference-Cited by-同舟云学术

Modeling and performance analysis of elastostatic stiffness of kinematically redundant parallel mechanisms

Published:2023-04-26 Issue:1 Volume:238 Page:123-137
ISSN:0954-4062
Container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Author:

Wu Zhen¹²,Chen Qiaohong³,Ye Wei¹^ORCID

Affiliation:

1. School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, China

2. Zhejiang Institute of Communications, Hangzhou, China

3. School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, China

Abstract

An analytical elastostatic stiffness modeling approach for kinematically redundant parallel mechanisms (KR-PMs) according to screw theory and the second theorem of Castigliano is proposed. The 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs are used as two examples of KR-PMs to validate the precision of the proposed approach. The relative error is less than 1.55% when the theoretical model is compared to the FEA model. The PM’s stiffness performance is assessed using the minimum linear displacement stiffness performance index, which is based on the theoretical model. By integrating Particle Swarm Optimization (PSO) with polynomial fitting technology, an analytical mapping model of the response surface between the optimal actuating distances and the moving platform (MP)’s given position and orientation is established. It is demonstrated that 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs can significantly enhance the stiffness performance when compared to the stiffness performance of 2-UPR/RPU PM.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544062231167023

Reference40 articles.

1. Motion Simulation Capabilities of Three-Degree-of-Freedom Flight Simulators

2. Wahl J. Articulated Tool Head. Patent 6431802, USA, 2002.

3. Kinematic modeling of Exechon parallel kinematic machine

4. Synthesis, Mobility, and Multifurcation of Deployable Polyhedral Mechanisms With Radially Reciprocating Motion