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Volume 40 Issue 4
Apr.  2014
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Journal of Beijing University of Aeronautics and Astronautics  > 2014  >  40(4): 500-506.
Guo Jiangzhen, Wang Dan, Fan Rui, et al. Stiffness characteristics distribution of 3 PRS/UPS parallel manipulator with actuation redundancy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(4): 500-506. doi: 10.13700/j.bh.1001-5965.2013.0304(in Chinese)
Citation: Guo Jiangzhen, Wang Dan, Fan Rui, et al. Stiffness characteristics distribution of 3 PRS/UPS parallel manipulator with actuation redundancy[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(4): 500-506. doi: 10.13700/j.bh.1001-5965.2013.0304(in Chinese)
shu

Stiffness characteristics distribution of 3 PRS/UPS parallel manipulator with actuation redundancy

doi: 10.13700/j.bh.1001-5965.2013.0304

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 28 May 2013
  • Publish Date: 20 Apr 2014
    Abstract
  • A three degree of freedom (DOF) 3PRS/UPS parallel manipulator with actuation redundancy was designed and investigated. The architectural model was constructed and the kinematic analysis was presented based on screw theory. The overall Jacobian matrix including redundant actuation was derived through respectively establishing the actuation and constraint Jacobian matrices. The overall stiffness matrix was derived by virtual work principle, in which the compliances subject to actuators and constraints were involved. The deformation of manipulator under static load was calculated, and its distribution rule was established. Utilizing the extremun eigenvalue of stiffness matrix and kinematic stiffness index (KSI), the stiffness performance of the manipulator was evaluated. The influence to the stiffness characteristics distribution of the manipulator after introducing redundant actuation was compared and analyzed. It was concluded that the redundant actuation can increase the stiffness along specific axis and improve its stiffness characteristics distribution, which will be valuable for the architecture design of a parallel manipulator with actuation redundancy.

     

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