The Library
A screw theory-based approach for conservative stiffness mapping of 3-PRS parallel mechanism
Tools
Ma, Yiwei, Tian, Yanling and Song, Yongbin (2022) A screw theory-based approach for conservative stiffness mapping of 3-PRS parallel mechanism. In: WRC Symposium on Advanced Robotics and Automation 2022, Beijing, China, 20 Aug 2022. Published in: 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) ISBN 9781665463706. doi:10.1109/wrcsara57040.2022.9903927
Research output not available from this repository.
Request-a-Copy directly from author or use local Library Get it For Me service.
Official URL: https://doi.org/10.1109/WRCSARA57040.2022.9903927
Abstract
This study presents a hierarchical semi-analytical approach for conservative stiffness modeling of the 3-PRS parallel mechanism based on the screw theory. Firstly, considering all the elastic links and joints, the compact explicit stiffness expression is derived based on the tensor transformation between local compliance matrices and global compliance. Then, the conservative stiffness mapping is formulated by taking the change of geometry of the mechanism due to the external forces into account. Finally, the results obtained from the analysis of a type of Z3 head show that the discrepancy between the proposed model and the Finite Element Analysis (FEA) model is lower than 8.21%, demonstrating the proposed model’s accuracy and effectiveness. The proposed model is hugely efficient for predicting the distributions of stiffness performances within the entire workspace and guiding the optimal functional design at the initial conceptual design stage.
Item Type: | Conference Item (Paper) | |||||||||
---|---|---|---|---|---|---|---|---|---|---|
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | |||||||||
SWORD Depositor: | Library Publications Router | |||||||||
Journal or Publication Title: | 2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) | |||||||||
Publisher: | IEEE | |||||||||
ISBN: | 9781665463706 | |||||||||
Official Date: | 20 August 2022 | |||||||||
Dates: |
|
|||||||||
DOI: | 10.1109/wrcsara57040.2022.9903927 | |||||||||
Status: | Peer Reviewed | |||||||||
Publication Status: | Published | |||||||||
Reuse Statement (publisher, data, author rights): | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | |||||||||
Access rights to Published version: | Restricted or Subscription Access | |||||||||
Copyright Holders: | IEEE | |||||||||
RIOXX Funder/Project Grant: |
|
|||||||||
Conference Paper Type: | Paper | |||||||||
Title of Event: | WRC Symposium on Advanced Robotics and Automation 2022 | |||||||||
Type of Event: | Workshop | |||||||||
Location of Event: | Beijing, China | |||||||||
Date(s) of Event: | 20 Aug 2022 | |||||||||
Related URLs: |
Request changes or add full text files to a record
Repository staff actions (login required)
View Item |