Stiffness Modeling and Analysis of a 3-DOF Parallel Kinematic Machine
To evaluate rigidity of a 3-degree-of-freedom parallel kinematic machine which forms a novel hybrid robot, a stiffness model is established by combining the matrix structure method with the virtual joint method. Compliance of joints and limbs is considered in the presented model by simplifying limbs into spatial limbs and treating joints as virtual springs with equivalent stiffness. Static equilibrium equations of active/passive limbs and the platform are derived respectively, after which the governing static equilibrium equation of the system can be obtained by introducing deformation compatibility conditions. To verify the presented model, finite element analysis is conducted. Based on the presented model, contribution rates of structural parameters to the system’s rigidity are evaluated to provide useful information on optimal design.
KeywordsParallel kinematic machine stiffness matrix structure method virtual joint method
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This work was supported by the National Key Research Project under Grant 2017ZX04013001.
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