Bo Hu, Bingyi Mao, Jingjing Yu, and Yi Lu
Parallel manipulator, stiffness, statics, constrained wrench
A unified stiffness model considering both active and constrained wrenches for lower mobility parallel manipulators (PMs) with linear active legs is established in this paper. First, the formula for solving the relation between the deformations of active legs and moving platform is derived. Second, the unified 6×6 form stiffness matrix is established based on principle of virtual work. Finally, the solving procedure is illustrated by applying it to a novel 3 degree of freedom (dof) 2-UPU+RPS PM. This approach can be used to establish the stiffness model of general lower mobility PMs.
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