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Stiffness modeling and analysis of a novel 5-DOF hybrid robot
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Dong, Chenglin, Liu, Haitao, Yue, Wei and Huang, Tian (2018) Stiffness modeling and analysis of a novel 5-DOF hybrid robot. Mechanism and Machine Theory, 125 . pp. 80-93. doi:10.1016/j.mechmachtheory.2017.12.009
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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2017.12...
Abstract
This paper deals with the stiffness modeling and analysis of a novel 5-DOF hybrid robot named TriMule which is composed of a 3-DOF positioning parallel mechanism plus a 2-DOF wrist. The robot is especially designed as a compact yet rigid module suitable for large part on-site machining. Mainly drawing on screw theory, a semi-analytic stiffness model of the robot is formulated by taking into account the component compliances associated with the elements of both the parallel mechanism and the wrist, resulting in the Cartesian stiffness matrix that can explicitly be expressed in terms of the compliance matrices down to the joint and link level. The stiffness distributions of the tool head over a prescribed task workspace are predicted and the contributions of joint/link compliances are evaluated using a set of global indices.
| Item Type: | Journal Article | ||||||||||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||||||
| Library of Congress Subject Headings (LCSH): | Robotics -- Mathematical modelling, Machining, Screws, Theory of | ||||||||||||
| Journal or Publication Title: | Mechanism and Machine Theory | ||||||||||||
| Publisher: | Pergamon-Elsevier Science Ltd. | ||||||||||||
| ISSN: | 0094-114X | ||||||||||||
| Official Date: | July 2018 | ||||||||||||
| Dates: |
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| Volume: | 125 | ||||||||||||
| Page Range: | pp. 80-93 | ||||||||||||
| DOI: | 10.1016/j.mechmachtheory.2017.12.009 | ||||||||||||
| Status: | Peer Reviewed | ||||||||||||
| Publication Status: | Published | ||||||||||||
| Access rights to Published version: | Restricted or Subscription Access | ||||||||||||
| RIOXX Funder/Project Grant: |
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