Stiffness performance analysis of a 3-PRPS kinematically redundant parallel mechanism-Reference-Cited by-同舟云学术

Stiffness performance analysis of a 3-PRPS kinematically redundant parallel mechanism

Published:2022-09-21 Issue:3 Volume:237 Page:589-602
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:

Xue Yuan¹²,Qu Haibo¹²³,Li Xiao¹²,Guo Sheng¹²³

Affiliation:

1. Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijng Jiaotong University, Beijing, China

2. Tangshan Research Institute of Beijing Jiaotong University, Hebei, China

3. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing, China

Abstract

The stiffness performance of a spatial kinematically redundant parallel mechanism (KRPM) with three relative degree-of-freedom (RDOF) is analyzed. Firstly, the composition principle of the KRPM is introduced, the RDOF is analyzed, the kinematics model is established, and the overall Jacobian matrix is established based on the screw theory. Secondly, the workspace of the KRPM is drawn, and the theoretical stiffness model is established considering the internal restraint force and the external load. The stiffness variation in the workspace is drawn, and the effectiveness of the theoretical stiffness model is verified through finite element analysis. Finally, according to the theoretical stiffness model, four task-based stiffness performance evaluation indexes are obtained, and they are optimized based on the NSGA-II multi-objective genetic algorithm. The results show that adding and adjusting redundant actuators in a parallel mechanism can effectively improve the stiffness performance of the mechanism. In the meantime, different stiffness optimization schemes can be proposed for different task paths based on the NSGA-II genetic algorithm.

Funder

National Natural Science Foundation of China

natural science foundation of hebei province

Publisher

SAGE Publications

Subject

Mechanical Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/09544062221124507

Reference34 articles.

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4. Singularity analysis and avoidance of a planar parallel mechanism with kinematic redundancy under a fixed orientation

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