Stiffness improvement of 3RPS PKM by redundant actuating leg

Xueliang Cui; Wuyi Chen; Xianguo Han; Xijing Zhu; Jianqing Wang; Quan Cheng

doi:10.3969/j.issn.1004-132X.2015.23.008

Stiffness improvement of 3RPS PKM by redundant actuating leg

Xueliang Cui
, Wuyi Chen
, Xianguo Han
, Xijing Zhu
, Jianqing Wang
, Quan Cheng

School of Mechanical Engineering and Automation

North University of China
Beihang University

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

Considering the relationship between the changes of the Jacobian matrix and the orientation deviation of the moving platform, the mapping model between the 3RPS PKM end-effector offset and the deformation of the branches was established by using the vector differential method, based on the screw theory. The functional expression of the rigidity of the chain and its components was derived, and then the instant stiffness model of the 3RPS PKM was built up. The influences of the changes of the Jacobian matrix on the stiffness of the PKM were analyzed. The theories that the redundant actuating leg could increase the stiffness of the PKM were discussed, and were also verified by the simulation and the tests.

Original language	English
Pages (from-to)	3162-3167
Number of pages	6
Journal	Zhongguo Jixie Gongcheng/China Mechanical Engineering
Volume	26
Issue number	23
DOIs	https://doi.org/10.3969/j.issn.1004-132X.2015.23.008
State	Published - 10 Dec 2015

Keywords

Instant stiffness model
Parallel kinematic machanism(PKM)
Position and orientation offset
Redundant actuation
Vector differential method

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10.3969/j.issn.1004-132X.2015.23.008

Cite this

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title = "Stiffness improvement of 3RPS PKM by redundant actuating leg",

abstract = "Considering the relationship between the changes of the Jacobian matrix and the orientation deviation of the moving platform, the mapping model between the 3RPS PKM end-effector offset and the deformation of the branches was established by using the vector differential method, based on the screw theory. The functional expression of the rigidity of the chain and its components was derived, and then the instant stiffness model of the 3RPS PKM was built up. The influences of the changes of the Jacobian matrix on the stiffness of the PKM were analyzed. The theories that the redundant actuating leg could increase the stiffness of the PKM were discussed, and were also verified by the simulation and the tests.",

keywords = "Instant stiffness model, Parallel kinematic machanism(PKM), Position and orientation offset, Redundant actuation, Vector differential method",

author = "Xueliang Cui and Wuyi Chen and Xianguo Han and Xijing Zhu and Jianqing Wang and Quan Cheng",

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T1 - Stiffness improvement of 3RPS PKM by redundant actuating leg

AU - Cui, Xueliang

AU - Chen, Wuyi

AU - Han, Xianguo

AU - Zhu, Xijing

AU - Wang, Jianqing

AU - Cheng, Quan

PY - 2015/12/10

Y1 - 2015/12/10

N2 - Considering the relationship between the changes of the Jacobian matrix and the orientation deviation of the moving platform, the mapping model between the 3RPS PKM end-effector offset and the deformation of the branches was established by using the vector differential method, based on the screw theory. The functional expression of the rigidity of the chain and its components was derived, and then the instant stiffness model of the 3RPS PKM was built up. The influences of the changes of the Jacobian matrix on the stiffness of the PKM were analyzed. The theories that the redundant actuating leg could increase the stiffness of the PKM were discussed, and were also verified by the simulation and the tests.

AB - Considering the relationship between the changes of the Jacobian matrix and the orientation deviation of the moving platform, the mapping model between the 3RPS PKM end-effector offset and the deformation of the branches was established by using the vector differential method, based on the screw theory. The functional expression of the rigidity of the chain and its components was derived, and then the instant stiffness model of the 3RPS PKM was built up. The influences of the changes of the Jacobian matrix on the stiffness of the PKM were analyzed. The theories that the redundant actuating leg could increase the stiffness of the PKM were discussed, and were also verified by the simulation and the tests.

KW - Instant stiffness model

KW - Parallel kinematic machanism(PKM)

KW - Position and orientation offset

KW - Redundant actuation

KW - Vector differential method

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DO - 10.3969/j.issn.1004-132X.2015.23.008

M3 - 文章

AN - SCOPUS:84953860880

SN - 1004-132X

VL - 26

SP - 3162

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JO - Zhongguo Jixie Gongcheng/China Mechanical Engineering

JF - Zhongguo Jixie Gongcheng/China Mechanical Engineering

IS - 23

ER -

Stiffness improvement of 3RPS PKM by redundant actuating leg

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Keywords

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