Stiffness analysis and modal analysis of precision parallel manipulator with flexure hinge

Author

Weibin Rong ; Yuliang Luan ; Limin Qi ; Hui Xie ; Lining Sun

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2012

fDate

Aug. 29 2012-Sept. 1 2012

Firstpage

140

Lastpage

143

Abstract

According to a 3-PPSR flexible parallel manipulator with specific structure, through theoretical calculation and finite element analysis of the whole robot, stiffness analysis and modal analysis were made and it was obtained the inherent frequency and vibration mode, which can effectively avoid the occurrence of resonance.

Keywords

bending; elastic constants; finite element analysis; flexible manipulators; hinges; manipulator dynamics; mechanical engineering computing; modal analysis; solid modelling; vibrations; 3-PPSR flexible parallel manipulator; 3D geometrical modeling; SolidWorks; finite element analysis; flexure hinge; frequency mode; modal analysis; resonance occurrence avoidance; stiffness analysis; theoretical calculation; vibration mode; Analytical models; Finite element methods; Manipulators; Modal analysis; Shape; Vibrations; analysis; flexure hinge; parallel manipulator; precision;

fLanguage

English

Publisher

ieee

Conference_Titel

Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), 2012 International Conference on

Conference_Location

Shaanxi

Print_ISBN

978-1-4673-4588-0

Electronic_ISBN

978-1-4673-4589-7

Type

conf

DOI

10.1109/3M-NANO.2012.6472973

Filename

6472973