Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series-Reference-Cited by-同舟云学术

Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series

Published:2012-04-25 Issue:2 Volume:4 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Hu Bo¹,Yu Jingjing¹,Lu Yi¹,Sui Chunping²,Han Jianda²

Affiliation:

1. Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, P. R. China

2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, P. R. China

Abstract

Abstract The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4006190/6623062/021012_1.pdf

Reference22 articles.

1. Parallel Robots

2. Inverse Jerk Analysis of Symmetric Zero-Torsion Parallel Manipulators;Gallardo;Rob. Auton. Syst.

3. Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators;Hong;ASME J. Mech. Rob.

4. Unification and Simplification of Velocity/Acceleration of Limited-Dof Parallel Manipulators With Linear Active Legs;Lu;Mech. Mach. Theory

Cited by 41 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Dynamic modeling and performance analysis of the 2PRU-PUU parallel mechanism;Mechanical Sciences;2024-04-18

2. Elastostatic analysis of a module-based shape morphing snake-like robot;Mechanism and Machine Theory;2024-04

3. A rapid prediction method for the stiffness and the machining accuracy evaluation of a parallel kinematic mechanism;Journal of Mechanical Science and Technology;2023-11

4. Kinematics of the Hybrid 6-Axis (H6A) manipulator;Robotica;2023-06-13

5. Stiffness modeling of some 4-DOF over-constrained parallel manipulators with various constrained wrench forms;Mechanism and Machine Theory;2022-06