Stiffness estimation of a tripod-based parallel kinematic machine

Author

Huang, T. ; Mei, J.P. ; Zhao, X.Y. ; Zhou, L.H. ; Zhang, D.W. ; Zeng, Z.P. ; Whitehouse, D.J.

Author_Institution

Sch. of Mech. Eng., Tianjin Univ., China

Volume

4

fYear

2001

fDate

2001

Firstpage

3280

Abstract

This paper presents a simple yet comprehensive approach that enables the stiffness of a tripod-based parallel kinematic machine to be quickly estimated. The approach can be implemented by two steps. In the first step, the machine structure is decomposed into two substructures associated with the machine frame and the parallel mechanism. The stiffness model of each substructure is formulated by assuming that the components in the other substructure are rigid. This is followed by the second step that enables the stiffness model of the machine structure to be achieved by linear superposition. A 3D representation of the stiffness distributions within the usable workspace are depicted with comparison to those obtained through the finite element analysis.

Keywords

finite element analysis; manipulator kinematics; simulation; finite element analysis; inverse kinematics; linear superposition; parallel kinematic machine; stiffness model; tripod; Application software; Fasteners; Finite element methods; Geometry; Impedance; Kinematics; Machine tools; Mathematical model; Mechanical engineering; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933124

Filename

933124