Elastostatic Stiffness Analysis for the USUPS Parallel Manipulators
المؤلفون المشاركون
Zhang, Weizhong
Ye, Wei
Yang, Chao
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2020، العدد 2020 (31 ديسمبر/كانون الأول 2020)، ص ص. 1-9، 9ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2020-07-13
دولة النشر
مصر
عدد الصفحات
9
التخصصات الرئيسية
الملخص EN
The virtual joint method (VJM) cannot calculate the strain energy stored in each rod.
In order to solve the problem, a modeling method of the elastostatic stiffness was investigated for the UP/UPS parallel manipulators (PMs), taking the example of the 6-SPS PM.
The modeling method was based on screw theory, Castigliano’s theorem, and strain energy (where U, P, and S, respectively, denote universal, prismatic, and spherical joints).
First, the actuator and constraint wrenches of the mechanism were obtained by screw theory.
Second, compact limb stiffness matrices were obtained in terms of strain energy and Castigliano’s second theorem.
Finally, analytic expressions for the overall stiffness matrix of the mechanism and the amplitudes of the actuator force were obtained by adopting the virtual work principle and the balance equation for the mobile platform.
All relative errors between the results of the analytical model and the finite element model are below 2%, which validates the effectiveness of the elastostatic stiffness model.
The virtual work index was adopted to evaluate the stiffness performance of the mechanism, and the results show that the stiffness is not only related to position and orientation but also closely related to the directions of external loads.
It is also demonstrated that the method has general adaptability for the stiffness analysis for the US/UPS PMs, laying the foundation for further reasonable dynamic design and optimization of such manipulators.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Weizhong& Ye, Wei& Yang, Chao. 2020. Elastostatic Stiffness Analysis for the USUPS Parallel Manipulators. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1193643
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Weizhong…[et al.]. Elastostatic Stiffness Analysis for the USUPS Parallel Manipulators. Mathematical Problems in Engineering No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1193643
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Weizhong& Ye, Wei& Yang, Chao. Elastostatic Stiffness Analysis for the USUPS Parallel Manipulators. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1193643
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1193643
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر