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Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links
Robotica ( IF 2.7 ) Pub Date : 2020-01-31 , DOI: 10.1017/s0263574720000041
Yi Lu , Zhuohong Dai , Yang Lu

SUMMARYA general serial–parallel manipulator connected in series by two different parallel manipulators with linear active legs is constructed. Its precise stiffness and elastic deformations are studied systematically. Its unified precise stiffness and precise elastic deformation models are established by considering both the moving links inertial wrench and the dynamic active/constrained wrench. A 3SPR+3RPS-type serial–parallel manipulator is illustrated for solving its precise stiffness and precise elastic deformation. The derived formulae of the precise stiffness and the precise elastic deformations of the general serial–parallel manipulator are verified by the theoretical solutions of the 3SPR+3RPS serial–parallel manipulator.

中文翻译:

考虑动连杆惯性扳手的串并联机械手精确刚度和弹性变形

摘要构建了一种由两个不同的具有线性主动腿的并联机械手串联连接的通用串并联机械手。系统地研究了其精确的刚度和弹性变形。同时考虑动连杆惯性扳手和动态主动/约束扳手,建立了其统一的精确刚度和精确弹性变形模型。3SPR+3RPS型串并联机械手求解其精确刚度和精确弹性变形。通过3SPR+3RPS串并联机械手的理论解验证了一般串并联机械手的精确刚度和精确弹性变形的推导公式。
更新日期:2020-01-31
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