Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-13T03:03:34.620Z Has data issue: false hasContentIssue false
  • English
  • Français

Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links

Published online by Cambridge University Press:  31 January 2020

Yi Lu Open the ORCID record for Yi Lu [Opens in a new window] ,
Zhuohong Dai  and
Yang Lu
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China
Zhuohong Dai
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, P.R. China
Yang Lu
Affiliation:
Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, Qinhuangdao, Hebei, P.R. China
*
*Corresponding author. E-mail: luyi@ysu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

A general serial–parallel manipulator connected in series by two different parallel manipulators with linear active legs is constructed. Its precise stiffness and elastic deformations are studied systematically. Its unified precise stiffness and precise elastic deformation models are established by considering both the moving links inertial wrench and the dynamic active/constrained wrench. A 3SPR+3RPS-type serial–parallel manipulator is illustrated for solving its precise stiffness and precise elastic deformation. The derived formulae of the precise stiffness and the precise elastic deformations of the general serial–parallel manipulator are verified by the theoretical solutions of the 3SPR+3RPS serial–parallel manipulator.

Keywords

Serial–parallel manipulatorPrecise stiffnessPrecise elastic deformationInertial wrenchActive/constrained wrench
Type
Articles
Information
Robotica , Volume 38 , Issue 12 , December 2020 , pp. 2204 - 2220
Copyright
Copyright © Cambridge University Press 2020

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Tanev, T., “Kinematics of a hybrid (parallel-serial) robot manipulator,” Mech. Mach. Theory 35(9), 1183–1196 (2000).CrossRefGoogle Scholar
Lee, M. K. and Park, K. W., “Kinematic and dynamic analysis of a double parallel manipulator for enlarging workspace and avoiding singularities,” IEEE Trans. Robot. Autom. 15(6), 1024–1034 (1999).Google Scholar
Gallardo-Alvarado, J. and Posadas-García, J., “Mobility analysis and kinematics of the semi-general 2(3-RPS) series-parallel manipulator,” Rob. Comput. Integr. Manuf. 29(6), 463–472 (2013)CrossRefGoogle Scholar
Lum, G. Z., Teo, T. J. and Yeo, S. H., “Structural optimization for flexure-based parallel mechanisms - towards achieving optimal dynamic and stiffness properties,” Precis. Eng. 42(10), 195–207 (2015).CrossRefGoogle Scholar
Zeng, Q. and Fang, Y. F., “Structural synthesis and analysis of serial-parallel hybrid mechanisms with spatial multi-loop kinematic chains,” Mech. Mach. Theory 49(3), 198–215 (2012).Google Scholar
Zheng, X., Bin, H. and Luo, Y., “Kinematic analysis of a hybrid serial-parallel manipulator,” Int. J. Adv. Manuf. Technol. 23(11–12), 925–930 (2004).CrossRefGoogle Scholar
Lu, Y., Hu, B. and Sun, T., “Analyses of velocity, acceleration, statics, and workspace of a 2(3-SPR) serial-parallel manipulator,” Robotica 27(4), 529–538 (2009).CrossRefGoogle Scholar
Lu, Y. and Dai, Z. H., “Dynamics model of redundant hybrid manipulators connected in series by three or more different parallel manipulators with linear active legs,” Mech. Mach. Theory 103(9), 222–235 (2016).CrossRefGoogle Scholar
Gosselin, C., “Stiffness mapping for parallel manipulators,” IEEE T. Robotic. Autom. 6(3), 377–382 (1990).CrossRefGoogle Scholar
Portman, V. T., Chapsky, V. S. and Shneor, Y., “Evaluation and optimization of dynamic stiffness values of the PKMs: Collinear stiffness value approach,” Mech. Mach. Theory 74(4), 216–244 (2014).CrossRefGoogle Scholar
Aginaga, J., Zabalza, I., Altuzarra, O. and Nájera, J., “Improving static stiffness of the 6-RUS parallel manipulator using inverse singularities,” Rob. Comput. Integr. Manuf. 28(4), 458–471 (2012).CrossRefGoogle Scholar
Carbone, G. and Ceccarelli, M., “A stiffness analysis for a hybrid parallel-serial manipulator,” Robotica 22(5), 567–576 (2004).CrossRefGoogle Scholar
Cheng, G., Xu, P., Yang, D. and Liu, H., “Stiffness analysis of a 3CPS parallel manipulator for mirror active adjusting platform in segmented telescope,” Rob. Comput. Integr. Manuf. 29(5), 302–311 (2013).CrossRefGoogle Scholar
Chi, Z. and Zhang, D., “Stiffness optimization of a novel reconfigurable parallel kinematic manipulator,” Robotica 30(3), 433–447 (2012).CrossRefGoogle Scholar
Li, Y. M. and Xu, Q., “Stiffness analysis for a 3-PUU parallel kinematic machine,” Mech. Mach. Theory 43(2), 186–200 (2008).CrossRefGoogle Scholar
Klimchik, A., Chablat, D. and Pashkevich, A., “Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings,” Mech. Mach. Theory 79(9), 19–28 (2014).CrossRefGoogle Scholar
Kim, H. S. and Lipkin, H., “Stiffness of parallel manipulators with serially connected legs,” J. Mech. Rob. 6(3), 03 (2014).Google Scholar
Pashkevich, A., Chablat, D. and Wenger, P., “Stiffness analysis of over-constrained parallel manipulators,” Mech. Mach. Theory 44(5), 966–982 (2009).CrossRefGoogle Scholar
Pashkevich, A., Klimchik, A. and Chablat, D., “Enhanced stiffness modeling of manipulators with passive joints,” Mech. Mach. Theory 46(5), 662–679 (2011).CrossRefGoogle Scholar
Wu, J., Li, T., Wang, J. and Wang, L., “Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates,” Rob. Auton. Syst. 61(8), 868–875 (2013).CrossRefGoogle Scholar
Wu, J., Wang, J., Wang, L., Li, T. and Zheng, Y., “Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy,” Mech. Mach. Theory 44(2), 289–305 (2009).CrossRefGoogle Scholar
Yan, S. J., Ong, S. K. and Nee, A., “Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method,” Rob. Comput. Integr. Manuf. 37(6), 13–22 (2016).CrossRefGoogle Scholar
Yuan, H., Courteille, E. and Deblaise, D., “Static and dynamic stiffness analyses of cable-driven parallel robots with non-negligible cable mass and elasticity,” Mech. Mach. Theory 85(3), 64–81 (2015).CrossRefGoogle Scholar
Hoevenaars, A., Lambert, P. and Herder, J. L., “Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230(3), 341–352 (2016).Google Scholar
Zhang, J., Zhao, Y. Q. and Jin, Y., “Elastodynamic modeling and analysis for an exechon parallel kinematic machine,” J. Manuf. Sci. Eng. 138(3), article no. 031,011 (2016).CrossRefGoogle Scholar
Wu, J., Wang, J., Wang, L. and Li, T., “Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy,” Mech. Mach. Theory 44(4), 835–849 (2009).CrossRefGoogle Scholar
Wu, J, Gao, Y., Zhang, B. and Wang, L.. “Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment,” Rob. Comput. Integr. Manuf. 44, 199–207 (2017).CrossRefGoogle Scholar
Lu, Y., Hu, B. and Yu, J. P., “Analyses of the stiffness and elastic deformation of a 2(3-SPR) serial-parallel manipulator,” Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-Body Dynamics 223(3), 189–198 (2009).Google Scholar
Lu, Y., Dai, Z. H. and Ye, N., “Stiffness analysis of parallel manipulators with linear limbs by considering inertial wrench of moving links and constrained wrench,” Rob. Comput. Integr. Manuf. 46(8), 58–67 (2017).CrossRefGoogle Scholar
David, R., Mechanics of Material (Joho Wiley & Sons Inc., New York, USA, 1996).Google Scholar
Chao, R., “Course of 3 Dimension Design and Application of Solidworks,” (2nd Ed) (China Machine Press, Beijing, 2010).Google Scholar