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A semi-analytical approach for stiffness modeling of PKM by considering compliance of machine frame with complex geometry

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Wang, YouYu, Huang, Tian, Zhao, XueMan, Mei, Jiangping and Chetwynd, D. G.. (2008) A semi-analytical approach for stiffness modeling of PKM by considering compliance of machine frame with complex geometry. Chinese Science Bulletin, Volume 53 (Number 16). pp. 2565-2574. ISSN 1001-6538

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Official URL: http://dx.doi.org/10.1007/s11434-008-0298-1

Abstract

Stiffness modeling is one of the most significant issues in the design of parallel kinematic machine (PKM). This paper presents a semi-analytical approach that enables the stiffness of PKM with complex machine frame geometry to be estimated effectively. This approach can be implemented by three steps: (i) decomposition of the entire system into two sub-systems associated with the parallel mechanism and the machine frame respectively; (ii) stiffness modeling of each sub-system using the analytical approach and the finite element analysis; and (iii) generation of the stiffness model of the entire system by means of linear superposition. In the modeling process of each sub-system, the virtual work principle and overall deflection Jacobian are employed with special attention to the bending rigidity of the constrained passive limb and the interface stiffness of the machine frame. The stiffness distribution of a 5-DOF hybrid robot named TriVariant-B is investigated as an example to illustrate the effectiveness of this approach. The contributions of component rigidities to that of the system are evaluated using global indices. It shows that the results achieved by this approach have a good match to those obtained through finite element analysis and experiments.

Item Type:

Journal Article

Subjects:

Q Science > QA Mathematics
T Technology > TS Manufactures

Divisions:

Faculty of Science > Engineering

Library of Congress Subject Headings (LCSH):

Parallel kinematic machines -- Design and construction -- Mathematical models

Journal or Publication Title:

Chinese Science Bulletin

Publisher:

Zhongguo Kexue Zazhishe

ISSN:

1001-6538

Official Date:

August 2008

Dates:

Date	Event
August 2008	Published

Volume:

Volume 53

Number:

Number 16

Number of Pages:

Page Range:

pp. 2565-2574

Identification Number:

10.1007/s11434-008-0298-1

Status:

Peer Reviewed

Publication Status:

Published

Access rights to Published version:

Restricted or Subscription Access

Funder:

Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), Royal Society (Great Britain)

Grant number:

50535010 (NFSC), 50775158 (NSFC), IJP-2005/R4

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