期刊
IEEE ACCESS
卷 10, 期 -, 页码 6304-6318出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3139089
关键词
Kinematics; Legged locomotion; Analytical models; Machine tools; Strain; Manipulators; Jacobian matrices; 3-DOF parallel manipulator; complete kinematic analysis; stiffness modeling
资金
- Hebei Provincial Natural Science Foundation [E2020203027, E2021203019]
- Central Government Guiding Local Science and Technology Development Fund Project of Hebei Province [206Z7602G]
- Youth Foundation of Science and Technology of Higher Education of Hebei Province [QN2020230]
A novel 3-DOF parallel manipulator with the RPU+UPU+SPU architecture is proposed, and its kinematics and stiffness are systematically studied. The models derived in this study are verified through simulations, providing new ideas for the design of PM machine tools.
A novel 3-degrees of freedom (DOF) RPU+UPU+SPU parallel manipulator (PM) is proposed in this study, and its complete kinematics and stiffness are studied systematically. First, the architecture description is discussed, and the inverse and the forward positional posture analysis are studied based on the constraints in the PM. Second, the Jacobian matrix, the velocity model, the Hessian matrix and the acceleration model are derived in explicit and compact forms. Third, based on the virtual work principle, the static model and the deformation decompose method, the stiffness model is built. Meanwhile, the stiffness matrix and the compliance matrix are obtained. Finally, the correctness of the models built in this study are verified by simulative PMs. This study is expected to provide new ideas for the design of PM machine tools.
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