کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
414531 680972 2011 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial–parallel manipulator
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Analysis of stiffness and elastic deformation of a 2(SP+SPR+SPU) serial–parallel manipulator
چکیده انگلیسی

A 2(SP+SPR+SPU) manipulator is a serial–parallel manipulator, which includes an upper manipulator and a lower manipulator. Its stiffness and elastic deformation are studied systematically in this paper. Firstly, a 2(SP+SPR+SPU) manipulator is constructed and its characteristics are analyzed. Secondly, the formulae for solving the elastic deformation and the compliance matrix of the active legs are derived and the elastic deformation and the total stiffness matrix of this manipulator are solved and analyzed. Finally, a finite element model of this manipulator is constructed and its elastic deformations are solved. The analytic solutions of elastic deformations of this manipulator are coincident with that of its finite element model.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 27, Issue 2, April 2011, Pages 418–425
نویسندگان
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