Compliance analysis and lightweight design of a two-degree-of-freedom rotating head

Abstract

This article presents an approach for the compliance analysis and lightweight design of a two-degree-of-freedom rotating head by considering both gravity and joint/link compliances, which provides a comprehensive understanding on the posture adjustment mechanism of five-degree-of-freedom hybrid manipulator. A kinetostatic analysis is carried out to consider both externally applied wrench imposed upon the end-effector and gravity of all movable components. Then, a deflection analysis integrating both joint and link compliances and formulation of component compliance matrices are completed by using a semi-analytical approach. Finally, the lightweight design of two-degree-of-freedom rotating head is realized by considering the deflection constraints. This approach enables to effectively evaluate the deflections of endeffector caused by both payload and gravity under given operation conditions. Moreover, the established method provides reliable guidelines for the design of two-degree-of-freedom rotating head with superior static rigidities and dynamic behaviors.

Stiffness characteristics analysis of a Biglide industrial parallel robot considering the gravity of mobile platform and links

“…In this section, the respective static models are developed at each component of the Biglide parallel robot, taking into account the gravity generated by the weight of the mobile platform and the moveable links 26 – 29 . The mathematical equation of the static force/torque corresponding to each component is derived, and thus the gravity received at the component is obtained.…”

“…Lian et al 28 proposed a stiffness model for a five-degree-of-freedom parallel robot by the links gravity. Wang et al 29 proposed a stiffness model of a five-axis parallel robot by considering the links gravity. However, all these stiffness models consider the gravity of the link as an external load acting on the end-effector without considering the influence of the end-effector gravity and the mass center position of the link.…”