Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

Zhang Weizhong; Ye Wei; Yang Chao

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Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

机译：Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

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The virtual joint method (VJM) cannot calculate the strain energy stored in each rod. In order to solve the problem, a modeling method of the elastostatic stiffness was investigated for the UP/UPS parallel manipulators (PMs), taking the example of the 6-SPS PM. The modeling method was based on screw theory, Castigliano's theorem, and strain energy (where U, P, and S, respectively, denote universal, prismatic, and spherical joints). First, the actuator and constraint wrenches of the mechanism were obtained by screw theory. Second, compact limb stiffness matrices were obtained in terms of strain energy and Castigliano's second theorem. Finally, analytic expressions for the overall stiffness matrix of the mechanism and the amplitudes of the actuator force were obtained by adopting the virtual work principle and the balance equation for the mobile platform. All relative errors between the results of the analytical model and the finite element model are below 2%, which validates the effectiveness of the elastostatic stiffness model. The virtual work index was adopted to evaluate the stiffness performance of the mechanism, and the results show that the stiffness is not only related to position and orientation but also closely related to the directions of external loads. It is also demonstrated that the method has general adaptability for the stiffness analysis for the US/UPS PMs, laying the foundation for further reasonable dynamic design and optimization of such manipulators.

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《Mathematical Problems in Engineering: Theory, Methods and Applications》 |2020年第23期|1975428.1-1975428.9|共9页
作者
Zhang Weizhong; Ye Wei; Yang Chao;
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Zhejiang Sci Tech Univ, Fac Mech Engn & Automat, Hangzhou 310058, Zhejiang, Peoples R China|Zhejiang Inst Mech & Elect Engn, Fac Automat, Hangzhou 310018, Zhejiang, Peoples R China;

Zhejiang Sci Tech Univ, Fac Mech Engn & Automat, Hangzhou 310058, Zhejiang, Peoples R China;

Jiaxing Univ, Coll Mech & Elect Engn, Jiaxing 314003, Zhejiang, Peoples R China;

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Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

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