Stiffness performance analysis of a 3-PRPS kinematically redundant parallel mechanism

Xue, Yongqiang; Qu, Haibo; Li, Xiao; Guo, Sheng

doi:10.1177/09544062221124507

Cited by 4 publications

(2 citation statements)

References 35 publications

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“…In order to compare the performance of different manipulators, study the behavior of the robot stiffness, and energy consumption, or perform the optimal design of link sizes and weight, a criterion is needed to index manipulators or a special posture. There are a variety of ways to define an index for robots stiffness, including the minimum and maximum eigenvalues, 47,48 ratio of the minimum and maximum eigenvalues, 45 determinant of the stiffness matrix 28,47 and other concepts like multi-objective genetic algorithm, 49 the Collinear Stiffness Value (CSV) 50 and volumetric isotropy index by considering intermediate eigenvalues. 5 Comparisons of indices related to eigenvalues and stiffness performance evaluation are presented in Carbone and Ceccarelli.…”

Section: Resultsmentioning

confidence: 99%

“…There are a variety of ways to define an index for robots stiffness, including the minimum and maximum eigenvalues, 47,48 ratio of the minimum and maximum eigenvalues, 45 determinant of the stiffness matrix 28,47 and other concepts like multi-objective genetic algorithm, 49 the Collinear Stiffness Value (CSV) 50 and volumetric isotropy index by considering intermediate eigenvalues. 5 Comparisons of indices related to eigenvalues and stiffness performance evaluation are presented in Carbone and Ceccarelli.…”

Section: Stiffness Indexingmentioning

confidence: 99%

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An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

Dastjerdi,

Sheikhi,

Tale Masouleh

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper introduces an analytical approach entailing a clear physical meaning for calculating the stiffness of the 3-DOF Delta parallel robot. By defining suitable linear and torsion springs, the stiffness of the robot components in different postures and the stiffness coefficients of the indeterminate parallelogram under conceivable wrenches are comprehensively obtained. Moreover, the stiffness coefficients for each limb chain are assigned, and then by considering the assigned stiffness coefficients and static equilibriums the indeterminate problem of 3-RUU DPRs is solved. By reformulating the forward kinematics which takes into account the deflected components and based on the elastic properties, the deflection in each manipulator component is calculated and the amount of moving platform twist is obtained. The proposed approach is validated by the FEA method and results reveal that the maximum error of the proposed method is 0.1489° in the orientation and 0.1420 mm in translation compared to the FEA. Then to avoid the problem of different units of translation and orientation in indexing, the virtual work concept is used for assigning an index number.

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Section: Resultsmentioning

confidence: 99%

Section: Stiffness Indexingmentioning

confidence: 99%

An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

Dastjerdi,

Sheikhi,

Tale Masouleh

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

Adjustment Strategy Optimization and Design of the 3RPS-SPS Mechanism With Active and Passive Branches

Wang,

Qiu,

et al. 2025

IEEE Robot. Autom. Lett.

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Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism With Closed-Loop Chain

Zhou,

Qu,

et al. 2024

Journal of Mechanical Design

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In this paper, a generalized method for error modeling of the spatial 1T2R three degrees of freedom (DOFs) kinematically redundant parallel mechanism with a closed-loop chain is proposed, which is based on the matrix differential method. Firstly, the detailed process of generalized error modeling and error analysis are described. Based on the proposed method, the error model of the spatial 3PRR(RR)S-P (“P,” prismatic joint; “R,” revolute joint; “S,” spherical joint; and the underline indicates that the joint is the actuator) kinematically redundant parallel mechanism is established as an example, and the correctness of the error model is verified by combining forward with inverse kinematics. Then, the patterns affecting the output error of the moving platform are discussed for the case where the mechanism contains only static error or dynamic error, respectively. In addition, the error sensitivity indices are defined to evaluate the error sensitivity of the moving platform to different redundant parameters L4 under a certain pose. Finally, in order to identify the key error terms, the sensitivity of the output error of the mechanism to a single error term is analyzed. The results show that the error sensitivity of the spatial kinematically redundant parallel mechanism can be effectively reduced by adjusting the kinematically redundant parameters, so that the mechanism can maintain a low error sensitivity in a certain pose.

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Stiffness performance analysis of a 3-PRPS kinematically redundant parallel mechanism

Cited by 4 publications

References 35 publications

An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot

Adjustment Strategy Optimization and Design of the 3RPS-SPS Mechanism With Active and Passive Branches

Error Sensitivity Analysis of a 1T2R Kinematically Redundant Parallel Mechanism With Closed-Loop Chain

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