• CN：11-2187/TH
• ISSN：0577-6686

›› 2011, Vol. 47 ›› Issue (13): 35-43.

• 论文 •

### 绳牵引并联机器人的静刚度解析

1. 西安电子科技大学电子装备结构教育部重点实验室;南京电子技术研究所
• 发布日期:2011-07-05

### Analysis on the Static Stiffness of Wire-driven Parallel Manipulators

LIU Xin;QIU Yuanying; SHENG Ying

1. Key Lab of Electronic Equipment Structure of Ministry of Education, Xidian University Nanjing Research Institute of Electronics Technology
• Published:2011-07-05

Abstract: Based on differential transform and linear geometry theory, a stiffness model of wire-driven parallel manipulators is established, including the elastic deformation of joints and wire tension. And a mathematical expression of the stiffness matrix is developed. Not only the influence of elastic deformation of the drive units and wires on the mechanism stiffness, but also the change of the structure matrix due to the movement of end-effectors under the action of generalized external force are considered in the stiffness model. The structure matrix derivative with respect to the position and orientation of the end-effectors, namely three dimension Hessian matrix is obtained by introducing linear vector. The model shows that the stiffness matrix of wire-driven parallel manipulators consists of two parts, one of which depends mainly on the geometric distribution of the wires, the position and orientation of the end-effectors, and the physical property of the driven links, while the other is a product of the Hessian matrix and the wire tension vector. The simulation and experiments of a five-meter scaled model of large spherical radio telescope verify the accuracy and effectiveness of the proposed method.