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Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 258-276页

作者： Chao Yang Wenyong Yu Wei Ye Qiaohong Chen Fengli Huang College of Mechanical and Electrical Engineering Jiaxing UniversityJiaxing 314001ZhejiangChina Zhejiang Siekon Transmission Technology Co. Ltd.Jiaxing 314001ZhejiangChina National and Local Joint Engineering Research Center of Reliability analysis and Testing for Mechanical and Electrical Products Zhejiang Sci-Tech UniversityHangzhou 310018ZhejiangChina School of Computer Science and Technology Zhejiang Sci-Tech UniversityHangzhou 310018ZhejiangChina

The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical *** study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction *** begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and *** approach helps circumvent the numerical instability typically encountered with traditional constraint *** IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate ***,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic *** proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional *** example utilizing an over constrained subclosed loops demonstrate the application of the proposed *** conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.

关键词： Parallel manipulator Elastostatic stiffness model matrix structural analysis Subassembly element Independent displacement coordinates

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