|Table of Contents|

Static Stiffness Analysis of a Reconfigurable Stewart Parallel Robot(PDF)

《南京师大学报（自然科学版）》[ISSN:1001-4616/CN:32-1239/N]

Issue:
2022年03期
Page:
132-140
Research Field:
计算机科学与技术
Publishing date:

Info

Title:
Static Stiffness Analysis of a Reconfigurable Stewart Parallel Robot
Author(s):
Qiu Xin1; You Jingjing1; 2; Ye Pengda1; Wang Linkang1
(1.College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)(2.Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
Keywords:
parallel robot; reconfiguration; static stiffness; Jacobian matrix; principle of virtual power
PACS:
TH112
DOI:
10.3969/j.issn.1001-4616.2022.03.017
Abstract:
The static stiffness characteristics of a reconfigurable Stewart parallel robot were modeled and simulated. Firstly,the structure coupling-reducing and the variable topology drive of the robot are realized by designing the triple composite hooker hinge and the prismatic joint that can transform the actuated and passive motion.Then,the velocity Jacobian matrix of the robot is derived based on the velocity basis point method,and combined with the principle of virtual power,an efficient and accurate static stiffness calculation model is derived. Finally,the static stiffness characteristics of the three reconstructed configurations are analyzed by using the statics simulation software of SolidWorks Simulation,and the results are compared with the theoretical model results.The results show that the theoretical results are consistent with the finite element results,and the maximum relative error is 18.36%. The research idea provides a theoretical basis for the structure optimization and performance analysis of the 6-DOF parallel robot.

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Last Update: 2022-09-15