Static Stiffness Analysis and Simulation of 6-PTRT Parallel Robot
To reveal the static stiffness behavior of a 6-PTRT parallel robot and find out its change rule in order to provide the reasonable parameters for the structural design, the stiffness characteristics of this parallel mechanism was studied.Based on the influence coefficient method, a static stiffness model for 6-PTRT parallel robot was established.The proposed model considered not only the axis stiffness of actuator but also the stiffness of passive joints, and the change of Jacobian matrix and first-order influence coefficient brought about by tiny change of the parallel robot mechanisms configuration under extemal wrench.The static stiffness matrix of parallel robot in initial position and its stiffness distribution rules for a certain workspace were given by numerical calculation and finite element method, which comparatively verify the exactness of stiffness model.
6-PTRT parallel robot Static stiffness Influence coefficient Jacobian matrix
Delong Leng Dongsheng Qu Yanwu Liu
State Key Laboratory of Robotics and System, Harbin Institute of Technology, P.R.China1Room 506, Block C1, Yikuang Street No.2, Nangang District, Harbin, 150001, P.R.China
国际会议
湖北荆州
英文
33-38
2013-05-18（万方平台首次上网日期，不代表论文的发表时间）