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  3. Research On High Precision Stiffness Modeling Method Of Redundant Over-constrained Parallel Mechanism.
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  3. Research On High Precision Stiffness Modeling Method Of Redundant Over-constrained Parallel Mechanism.

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Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism.

Sen Wang1,2, Haoran Li1,2, Xueyan Han1,2

  • 1Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, China.

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View abstract on PubMed

Summary
This summary is machine-generated.

This study introduces a novel global stiffness model for parallel mechanisms (PMs) accounting for joint clearance and deformation. The method enhances stiffness evaluation for complex robotic systems.

Keywords:
joint clearancejoint contact deformationprobability statistical modelredundant parallel mechanismstiffness

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Computational Mechanics

Background:

  • Existing stiffness modeling methods for parallel mechanisms (PMs) are fragmented and lack a unified, global approach.
  • These methods often fail to comprehensively account for factors like joint clearance and deformation, limiting accuracy.

Purpose of the Study:

  • To develop a unified, global static stiffness modeling method for redundant, over-constrained parallel mechanisms (PMs) that incorporates joint clearance and deformation.
  • To provide a high-precision method for evaluating the stiffness performance of complex PMs.

Main Methods:

  • Utilized screw theory, strain energy, and the virtual work principle to establish the global stiffness model.
  • Incorporated driving stiffness, branch deformation, redundant driving, joint clearance, and joint contact deformation into the model.
  • Employed a probability statistical model to address uncertainties in joint offset and contact area due to coupled branch constraint forces.
  • Validated the method through finite element analysis (FEA) on a 2UPR-RR-2RPU redundant PM.

    • Main Results:

    • Successfully developed a global stiffness matrix for the ideal joint mechanism using strain energy and Castigliano's second theorem.
    • Established mathematical relationships between joint clearance, contact deformation, and end-effector deformation.
    • Quantified the uncertainty associated with joint clearance and contact deformation under coupled forces.
    • FEA simulations confirmed the accuracy and effectiveness of the proposed high-precision stiffness modeling method.

    Conclusions:

    • The proposed stiffness modeling method offers a comprehensive and unified approach for redundant, over-constrained parallel mechanisms.
    • This method accurately evaluates the stiffness performance of PMs, addressing limitations of traditional approaches.
    • The study provides a valuable tool for the design and analysis of high-precision robotic systems.