• CN: 11-2187/TH
  • ISSN: 0577-6686

›› 2008, Vol. 44 ›› Issue (8): 13-19.

• Article • Previous Articles     Next Articles

Analytical Method for Stiffness Modeling of the Tricept Robot

WANG Youyu;HUANG Tian;CHETWYND D G;HU S J   

  1. School of Mechanical Engineering, Tianjin University China Academy of Space Technology School of Engineering, University of Warwick Department of Mechanical Engineering, University of Michigan
  • Published:2008-08-15

Abstract: By taking the 3-DOF parallel mechanism within the Tricept robot as an example, an analytical approach is presented, which enables the stiffness of the PKM having a properly constrained passive limb to be quickly estimated within the entire workspace. This approach can be implemented by three steps: ① Decomposition of the end-effector’s deformations into the tensile/compression deformation of the unconstrained active UPS limbs, and the torsional and bending deformations of the properly constrained UP limb. ② Formulation of the stiffness model of each subsystem by means of virtual work principle and structure matrix method. ③ Generation of the compliance model of the entire system by linear superposition. The static stiffness distributions of the 3-DOF parallel mechanism of the Tricept are depicted in a spherical coordinate system, and the contributions of the component compliances to the system compliance is evaluated by using global performance indices.

Key words: Parallel kinematic machine, Static stiffness

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