Static Stiffness Modeling of the Prismatic Joint of a Modular Reconfigurable Robot
文献类型：会议论文
| 作者 | Hu MW(胡明伟) ; Pan XA(潘新安); Tian Y(田勇); Wang HG(王洪光)
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| 出版日期 | 2017 |
| 会议名称 | 2017 IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | December 5-8, 2017 |
| 会议地点 | Macau, China |
| 关键词 | static stiffness modular reconfigurable robot finite element mechanical drive system |
| 页码 | 2468-2473 |
| 通讯作者 | Pan XA(潘新安) |
| 中文摘要 | This paper presents a complete static stiffness model of the prismatic joint of a modular reconfigurable robot based on the finite-element-and-analytical combined method. The stiffness of the mechanical drive system was analyzed, and its tension and compression stiffness, which can be expressed by a formula, was obtained. The stiffness of the mechanical structure was extracted by employing the finite element method. The additional stiffness due to translational motion of the joint was analyzed. Then the comprehensive stiffness of the joint was obtained by combing the above stiffness parts. A simulation, which consists of four working conditions, was conducted, and the results show that the proposed method is valid. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3741-8 |
| 源URL | [http://ir.sia.cn/handle/173321/21319]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Hu MW,Pan XA,Tian Y,et al. Static Stiffness Modeling of the Prismatic Joint of a Modular Reconfigurable Robot[C]. 见:2017 IEEE International Conference on Robotics and Biomimetics. Macau, China. December 5-8, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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