Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg
文献类型：期刊论文
| 作者 | Lu Y(路懿); Yu JJ(于晶晶); Chen LW(陈立伟); Hu B(胡波) ; Zhang XL(张秀礼); Han JD(韩建达); Sui CP(隋春平)
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| 刊名 | International Journal of Robotics and Automation
 |
| 出版日期 | 2014 |
| 卷号 | 29期号:1页码:23-31 |
| ISSN号 | 0826-8185 |
| 关键词 | Finite element method Manipulators Stiffness Stiffness matrix |
| 通讯作者 | 路懿 |
| 产权排序 | 2 |
| 中文摘要 | The stiffness and elastic deformation of a 3-leg 5-DoF parallel manipulator (PM) with asymmetrical structure and composite active legs are studied systematically. First, a 3-leg 5-DoF 2SPS+PRRPR PM with asymmetrical structure and composite active legs is constructed and its structure constraint characteristics are analyzed. Second, the formulae are derived for solving the elastic deformation and the compliance matrix of the asymmetrical active legs, an asymmetrical stiffness matrix is established for this PM and the elastic deformations of moving platform and legs are solved and analyzed. Finally, a finite element (FE) model of this PM is constructed and the simulation solutions of the elastic deformations of the moving platform are obtained and analyzed. The analytic solutions of the elastic deformations of this PM are verified by its FE simulation solutions. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | MECHANISM |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000330419200003 |
| 源URL | [http://ir.sia.cn/handle/173321/14714]  |
| 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 | Lu Y,Yu JJ,Chen LW,et al. Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg[J]. International Journal of Robotics and Automation,2014,29(1):23-31. |
| APA | Lu Y.,Yu JJ.,Chen LW.,Hu B.,Zhang XL.,...&Sui CP.(2014).Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg.International Journal of Robotics and Automation,29(1),23-31. |
| MLA | Lu Y,et al."Stiffness and elastic deformation of a 3-leg 5-dof parallel manipulator with one composite leg".International Journal of Robotics and Automation 29.1(2014):23-31. |
入库方式： OAI收割
来源：沈阳自动化研究所
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