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Solving stiffness and deformation of a 3-UPU parallel manipulator with one translation and two rotations

Published online by Cambridge University Press:  05 January 2011

Bo Hu  and
Yi Lu
Bo Hu*
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004P. R. China
Yi Lu
Affiliation:
Robotics Research Center, College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004P. R. China
*
*Corresponding author. E-mails: hbz0001@yahoo.com.cn, hb_zly2007@163.com
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Summary

The stiffness modeling and elastic deformation of 3 degrees of freedom, 3-universal joints–prismatic pairs–universal joints (UPU) parallel manipulator (PM) with one translation and two rotations are studied. First, the constraint wrenches are derived corresponding to the special orientation of universal joints in each of the UPU legs. Second, the elastic deformation of active legs produced by these active forces and constrained wrenches are derived. Third, a 6 × 6 Jacobian matrix is derived from constraint and active forces, and the statics is solved. Finally, the stiffness matrix of 3-UPU PM is established and its elastic deformation is solved.

Keywords

StiffnessParallel manipulatorConstrained forces
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 815 - 822
Copyright
Copyright © Cambridge University Press 2011

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