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Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity
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Wang, Manxin, Liu, Haitao, Huang, Tian and Chetwynd, D. G. (2015) Compliance analysis of a 3-SPR parallel mechanism with consideration of gravity. Mechanism and Machine Theory, 84 . pp. 99-112. doi:10.1016/j.mechmachtheory.2014.10.002 ISSN 0094-114X.
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WRAP_9974528-es-130316-compliance_analysis_of_a_3-spr_parallel_mechanism-mmt-2015_Huang.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (2364Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2014.10...
Abstract
By taking gravity and joint/link compliances into account, this paper presents a semi-analytical approach for compliance analysis of a 3-SPR parallel mechanism which forms the main body of a 5-DOF hybrid manipulator especially designed for high-speed machining and forced assembling in the aircraft industry. The approach is implemented in three steps: (1) kinetostatic analysis that considers both the externally applied wrench imposed upon the platform and the gravity of all moving components; (2) deflection analysis that takes both joint and link compliances into account; and (3) formulation of the component compliance matrices using a semi-analytical approach. The advantage of this approach is that the deflections of the platform caused by both the payload and gravity within the given task workspace can be evaluated in an effective manner. The computational results show that the deflection arising from gravity of the moving components may have significant influence on the pose accuracy of the end-effector.
Item Type: | Journal Article | ||||||||||
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Subjects: | T Technology > TS Manufactures | ||||||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||
Library of Congress Subject Headings (LCSH): | Parallel kinematic machines | ||||||||||
Journal or Publication Title: | Mechanism and Machine Theory | ||||||||||
Publisher: | Pergamon-Elsevier Science Ltd. | ||||||||||
ISSN: | 0094-114X | ||||||||||
Official Date: | February 2015 | ||||||||||
Dates: |
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Volume: | 84 | ||||||||||
Number of Pages: | 14 | ||||||||||
Page Range: | pp. 99-112 | ||||||||||
DOI: | 10.1016/j.mechmachtheory.2014.10.002 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Date of first compliant deposit: | 23 March 2016 | ||||||||||
Date of first compliant Open Access: | 24 March 2016 | ||||||||||
Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), China. Jiao yu bu [Ministry of Education], Alexander von Humboldt-Stiftung (AvHS) | ||||||||||
Grant number: | 51135008 (NSFC), 20110032130006 (YYB) |
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