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首页> 外文会议>IEEE International Conference on Mechatronics and Automation; 20060625-28; Luouang(CN) >Stiffness Modeling for an Orthogonal 3-PUU Compliant Parallel Micromanipulator
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Stiffness Modeling for an Orthogonal 3-PUU Compliant Parallel Micromanipulator

机译：正交3-PUU兼容并联微操纵器的刚度建模

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摘要

The stiffness modeling for a compliant parallel manipulator (CPM) is very important since it provides a basis for the characterization of static, modal, and dynamic behavior of the CPM. This paper presents the stiffness modeling of a three-prismatic-universal-universal (3-PUU) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano-scale manipulation. Considering the compliance of each compliant element, the analytical stiffness model for a spatial CPM is established by a straightforward approach, which is then applied to stiffness modeling of the 3-PUU CPM. In addition, the finite element analysis is carried out to validate the developed model, and as a further application, the influence of architectural parameters on stiffness factors are derived based on the stiffness model, which is valuable for a cost-effective design of the CPM.
机译：柔性并联机械手（CPM）的刚度建模非常重要，因为它为表征CPM的静态，模态和动态行为提供了基础。本文介绍了具有正交安装的执行器的三棱镜通用万向（3-PUU）CPM的刚度模型，该模型旨在为纳米级操纵提供三个空间平移自由度。考虑到每个柔顺元素的柔顺性，可通过一种简单的方法来建立空间CPM的分析刚度模型，然后将其应用于3-PUU CPM的刚度建模。此外，进行了有限元分析以验证所开发的模型，并在进一步的应用中，基于刚度模型得出建筑参数对刚度因子的影响，这对于CPM的高性价比设计具有重要意义。 。

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