Stiffness Analysis and Comparison of TriMule and Tricept Robots

doi:10.3901/JME.2021.19.003

Abstract

Abstract: This research presents a screw theory based analytical approach for stiffness modelling of 1T2R parallel mechanisms within the TriMule and Tricept robots with the goal to compare their stiffness performance over the entire task workspace, leading to the Cartesian stiffness matrix being explicitly expressed in terms of the interface stiffness matrices of limbs and force/deflection Jacobian matrix. Building upon the explicit expressions of the isotropic conditions of the tangential compliance characteristics at the reference configuration, a set of local and global indices for evaluating stiffness performance is proposed. Given a set of identical geometric and structural parameters of limbs, a comparison study is then carried out to investigate the influence of the inclination angle between the actuated and passive limbs on the local and global stiffness indices. It concludes that two robots have extremely similar stiffness performance over the entire work envelop if the local indices of two mechanisms are nearly identical.

Key words: 1T2R parallel mechanism, stiffness analysis and assessment, TriMule robot, Tricept robot

CLC Number:

TG156

DONG Chenglin, YUE Wei, LIU Haitao, HUANG Tian, XIAO Juliang. Stiffness Analysis and Comparison of TriMule and Tricept Robots[J]. Journal of Mechanical Engineering, 2021, 57(19): 30-38.

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