Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator
文献类型：期刊论文
| 作者 | Hu B(胡波) ; Lu Y(路懿); Tan, Qing; Yu JP(于建平); Han JD(韩建达)
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| 刊名 | ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
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| 出版日期 | 2011 |
| 卷号 | 27期号:2页码:418-425 |
| 关键词 | Serial-parallel manipulator Kinematics Statics Stiffness matrix Elastic deformation |
| ISSN号 | 0736-5845 |
| 产权排序 | 2 |
| 中文摘要 | A 2(SP+SPR+SPU) manipulator is a serial-parallel manipulator, which includes an upper manipulator and a lower manipulator. Its stiffness and elastic deformation are studied systematically in this paper. Firstly, a 2(SP+SPR+SPU) manipulator is constructed and its characteristics are analyzed. Secondly, the formulae for solving the elastic deformation and the compliance matrix of the active legs are derived and the elastic deformation and the total stiffness matrix of this manipulator are solved and analyzed. Finally, a finite element model of this manipulator is constructed and its elastic deformations are solved. The analytic solutions of elastic deformations of this manipulator are coincident with that of its finite element model. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics |
| 研究领域[WOS] | Computer Science ; Engineering ; Robotics |
| 关键词[WOS] | KINEMATIC ANALYSIS ; SCREW THEORY ; ACTIVE LEGS ; MECHANISM ; DYNAMICS ; WORKSPACE ; MACHINE ; DESIGN |
| 收录类别 | SCI ; EI |
| 资助信息 | The authors would like to acknowledge the financial supports from the Natural Sciences Foundation Council of China (NSFC) 50575198 and Doctoral Fund from National Education Ministry no. 20060216006 and the Foundation of State Key Laboratory of Robotics (Shenyan Institute of Automation, Chinese Academy of Sciences). |
| 语种 | 英语 |
| WOS记录号 | WOS:000285677000021 |
| 公开日期 | 2012-12-12 |
| 源URL | [http://ir.sia.cn/handle/173321/10130]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Hu B,Lu Y,Tan, Qing,et al. Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2011,27(2):418-425. |
| APA | Hu B,Lu Y,Tan, Qing,Yu JP,&Han JD.(2011).Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,27(2),418-425. |
| MLA | Hu B,et al."Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial-parallel manipulator".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 27.2(2011):418-425. |
入库方式： OAI收割
来源：沈阳自动化研究所
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