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A Numerical Modeling Study of The Effects of Various Joint Boundary Conditions on Stiffness Behavior of 6DOF Platform’s Top Plate

机译:各种关节边界条件对6DOF平台顶板刚度行为影响的数值模型研究

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Simulation driven designs are used for the efficient development of high precision devices such as parallel manipulators/platforms. Accurate prediction of these simulations depends upon the fact that how closely actual conditions are incorporated in the analysis. Stiffness is a key property for parallel platforms as it dictates the positional accuracy of the system. Overall stiffness of the platforms is not only driven by the stiffness of the links but also by contact stiffness of joints. Heavily loaded platforms present a special case as these are more prone to system failure if not designed properly. In this work, the stiffness behavior of 6-DOF platform's top plate subjected to various boundary conditions at joints have been analyzed. Different boundary conditions i.e. volume at joints, surface at joints and line at joints, has been used to depict real joint behavior. The stiffness of platform is analyzed for each of these cases independently and comparison of simulation results for every condition is presented both for static as well as dynamic conditions. This comparison presents a useful outcome for better prediction of static stiffness behavior and dynamic response thus aiding in more accurate design of such applications.
机译:仿真驱动的设计用于高效开发高精度设备,例如并行操纵器/平台。这些模拟的准确预测取决于在分析中结合实际条件的程度。刚度是并行平台的关键属性,因为它决定了系统的位置精度。平台的整体刚度不仅由链节的刚度驱动,而且由接头的接触刚度驱动。重载平台呈现了一种特殊情况,因为如果设计不当,它们更容易发生系统故障。在这项工作中,分析了六自由度平台顶板在关节处受到各种边界条件的刚度行为。不同的边界条件(即关节处的体积,关节处的表面和关节处的线)已用于描述实际的关节行为。分别针对每种情况分析平台的刚度,并给出了静态和动态条件下每种条件下仿真结果的比较。此比较为更好地预测静态刚度行为和动态响应提供了有用的结果,从而有助于此类应用程序的更准确设计。

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