کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
7179133 1467710 2018 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Stiffness modeling and analysis of a novel 5-DOF hybrid robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Stiffness modeling and analysis of a novel 5-DOF hybrid robot
چکیده انگلیسی
This paper deals with the stiffness modeling and analysis of a novel 5-DOF hybrid robot named TriMule which is composed of a 3-DOF positioning parallel mechanism plus a 2-DOF wrist. The robot is especially designed as a compact yet rigid module suitable for large part on-site machining. Mainly drawing on screw theory, a semi-analytic stiffness model of the robot is formulated by taking into account the component compliances associated with the elements of both the parallel mechanism and the wrist, resulting in the Cartesian stiffness matrix that can explicitly be expressed in terms of the compliance matrices down to the joint and link level. The stiffness distributions of the tool head over a prescribed task workspace are predicted and the contributions of joint/link compliances are evaluated using a set of global indices.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 125, July 2018, Pages 80-93
نویسندگان
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