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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
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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

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