Comparative stiffness analysis of two over-constrained manipulators

Qiang Yan; Bin Li; Xinhua Zhao; Yangmin Li

doi:10.1109/ICARM.2016.7606923

Comparative stiffness analysis of two over-constrained manipulators

Qiang Yan
, Bin Li
, Xinhua Zhao
, Yangmin Li

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

4 Citations (Scopus)

Abstract

This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried out by the derivation of the close-loop positon equation. Thirdly, stiffness analyses of two over constrained structure are carried out by using principle of virtual work, and 6×6 full matrices for the two structures have been built. Finally, some examples and comparisons are enumerated to show the differences of the two mechanisms.

Original language	English
Title of host publication	ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
Publisher	IEEE
Pages	225-230
Number of pages	6
ISBN (Electronic)	9781509033645
DOIs	https://doi.org/10.1109/ICARM.2016.7606923
Publication status	Published - 21 Oct 2016
Externally published	Yes
Event	2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 - Macau, China Duration: 18 Aug 2016 → 20 Aug 2016

Conference

Conference	2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
Country/Territory	China
City	Macau
Period	18/08/16 → 20/08/16

Keywords

jacobian matrix
Kinematics
singularity and dexterity
stiffness

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence
Control and Systems Engineering
Health(social science)
Control and Optimization

More information

10.1109/ICARM.2016.7606923

Cite this

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title = "Comparative stiffness analysis of two over-constrained manipulators",

abstract = "This paper studies the comparative stiffness analysis of two over-constrained 2-RPU\&SPR parallel mechanisms, these two 2-RPU\&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried out by the derivation of the close-loop positon equation. Thirdly, stiffness analyses of two over constrained structure are carried out by using principle of virtual work, and 6{\texttimes}6 full matrices for the two structures have been built. Finally, some examples and comparisons are enumerated to show the differences of the two mechanisms.",

keywords = "jacobian matrix, Kinematics, singularity and dexterity, stiffness",

author = "Qiang Yan and Bin Li and Xinhua Zhao and Yangmin Li",

year = "2016",

month = oct,

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doi = "10.1109/ICARM.2016.7606923",

language = "English",

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booktitle = "ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics",

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note = "2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 ; Conference date: 18-08-2016 Through 20-08-2016",

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Comparative stiffness analysis of two over-constrained manipulators. / Yan, Qiang; Li, Bin; Zhao, Xinhua et al.
ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics. IEEE, 2016. p. 225-230 7606923.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

TY - GEN

T1 - Comparative stiffness analysis of two over-constrained manipulators

AU - Yan, Qiang

AU - Li, Bin

AU - Zhao, Xinhua

AU - Li, Yangmin

PY - 2016/10/21

Y1 - 2016/10/21

N2 - This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried out by the derivation of the close-loop positon equation. Thirdly, stiffness analyses of two over constrained structure are carried out by using principle of virtual work, and 6×6 full matrices for the two structures have been built. Finally, some examples and comparisons are enumerated to show the differences of the two mechanisms.

AB - This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried out by the derivation of the close-loop positon equation. Thirdly, stiffness analyses of two over constrained structure are carried out by using principle of virtual work, and 6×6 full matrices for the two structures have been built. Finally, some examples and comparisons are enumerated to show the differences of the two mechanisms.

KW - jacobian matrix

KW - Kinematics

KW - singularity and dexterity

KW - stiffness

UR - https://www.scopus.com/pages/publications/84998704787

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DO - 10.1109/ICARM.2016.7606923

M3 - Conference article published in proceeding or book

SP - 225

EP - 230

BT - ICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics

PB - IEEE

T2 - 2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016

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ER -

Comparative stiffness analysis of two over-constrained manipulators

Abstract

Conference

Keywords

ASJC Scopus subject areas

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