Elastic deformation modeling of series robots with consideration of gravity

Hu, Mei-Chih; Wang, Hongguang; Pan, Xinan; Liao, Liangchuang; Sun, Hongwei

doi:10.1007/s11370-022-00426-6

Cited by 8 publications

(2 citation statements)

References 24 publications

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“…Even if the shape, size, and configuration of the mechanism change, the stiffness matrix of the entire machine can be easily obtained. Hu et al 16 proposed an elastic deformation modeling method of series robots with consideration of gravity. It combines the finite-element structure method with the VJM.…”

Section: Introductionmentioning

confidence: 99%

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Semi-analytical static compliance modeling of hybrid equipment

Cui²,

Lu³

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Based on screw theory and computer-aided engineering software, the static compliance modeling of a hybrid machine through the serial and parallel assembly of components was performed to construct the mapping relationship between wrench and deformation twist in Cartesian space. For low-speed and heavy-duty hybrid equipment, the static compliance performance is extremely important, and a complete static compliance model is a prerequisite for analysis and design. The semi-analytical model considers gravity, which facilitates the rapid prediction of static compliance and static deformation, providing guidance for static compliance matching in the design process.

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Section: Introductionmentioning

confidence: 99%

“…Hu et al 16 proposed an elastic deformation modeling method of series robots with consideration of gravity. It combines the finite-element structure method with the VJM.…”

Section: Introductionmentioning

confidence: 99%