ISSN:
1013-9826
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
In this paper, a novel parallel mechanism (3-RRRS/UPR) used in flexible fixture withconfiguration composed of two parallel robots (2-RR and 3-RRRS/ UPR) is presented. First, systemmodeling including the mobility study is conducted. Then a novel methodology is proposed thatmakes use of screw theory to analyze the deformation and stiffness of the mechanism: firstly weidentified the existence of the deformation of the subchain, in terms of the relationship between theeffective screw and deformation screw; then we took the deformation as an infinitesimal motion ofthe mechanism, and the stiffness matrix corresponding to the deformation can be deduced. Finallythe global stiffness matrix of the whole mechanism is modeled by assembling different stiffnesscharacters based on the presented methodology
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/01/56/transtech_doi~10.4028%252Fwww.scientific.net%252FKEM.364-366.327.pdf
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