Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator
Redundantly actuated parallel manipulators (PMs) have attracted a great deal of attention since they generally have better stiffness than non-redundantly actuated ones. This paper presents an analytical elastostatic stiffness modeling and performance study of a 2UPR–2PRU PM with actuation redundancy...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-12-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/12/1219 |
| _version_ | 1827637947121270784 |
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| author | Xinxue Chai Wei Ye Qinchuan Li Lingmin Xu |
| author_facet | Xinxue Chai Wei Ye Qinchuan Li Lingmin Xu |
| author_sort | Xinxue Chai |
| collection | DOAJ |
| description | Redundantly actuated parallel manipulators (PMs) have attracted a great deal of attention since they generally have better stiffness than non-redundantly actuated ones. This paper presents an analytical elastostatic stiffness modeling and performance study of a 2UPR–2PRU PM with actuation redundancy, which has two rotational and one translational degrees of freedom (U: universal joint; P: prismatic joint; R: revolute joint). First, the inverse displacement is reviewed and verified briefly. Second, the stiffness matrices of UPR and PRU limbs are deduced by using the principle of strain energy, followed by the overall stiffness matrix of the 2UPR–2PRU PM. Combined with the ANSYS software, the finite element analysis method is then used to verify the correctness and universality of the stiffness models by calculating the deformations of four selected configurations. Finally, the stiffness index based on the virtual work is used to evaluate the performance of the 2UPR–2PRU PM, and the influence of different external loads and operational heights on the stiffness performance is discussed. The relationship between singular configurations and the stiffness index is also presented. The stiffness models and performance distributions of the 2UPR–2PRU PM with actuation redundancy can provide references for the actual applications. |
| first_indexed | 2024-03-09T16:09:45Z |
| format | Article |
| id | doaj.art-21e8cddeee134fe6adb962374a17bd7c |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T16:09:45Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-21e8cddeee134fe6adb962374a17bd7c2023-11-24T16:17:38ZengMDPI AGMachines2075-17022022-12-011012121910.3390/machines10121219Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel ManipulatorXinxue Chai0Wei Ye1Qinchuan Li2Lingmin Xu3School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaSchool of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaRedundantly actuated parallel manipulators (PMs) have attracted a great deal of attention since they generally have better stiffness than non-redundantly actuated ones. This paper presents an analytical elastostatic stiffness modeling and performance study of a 2UPR–2PRU PM with actuation redundancy, which has two rotational and one translational degrees of freedom (U: universal joint; P: prismatic joint; R: revolute joint). First, the inverse displacement is reviewed and verified briefly. Second, the stiffness matrices of UPR and PRU limbs are deduced by using the principle of strain energy, followed by the overall stiffness matrix of the 2UPR–2PRU PM. Combined with the ANSYS software, the finite element analysis method is then used to verify the correctness and universality of the stiffness models by calculating the deformations of four selected configurations. Finally, the stiffness index based on the virtual work is used to evaluate the performance of the 2UPR–2PRU PM, and the influence of different external loads and operational heights on the stiffness performance is discussed. The relationship between singular configurations and the stiffness index is also presented. The stiffness models and performance distributions of the 2UPR–2PRU PM with actuation redundancy can provide references for the actual applications.https://www.mdpi.com/2075-1702/10/12/1219parallel manipulatoractuation redundancyelastostatic stiffness modelingperformance evaluation |
| spellingShingle | Xinxue Chai Wei Ye Qinchuan Li Lingmin Xu Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator Machines parallel manipulator actuation redundancy elastostatic stiffness modeling performance evaluation |
| title | Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator |
| title_full | Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator |
| title_fullStr | Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator |
| title_full_unstemmed | Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator |
| title_short | Elastostatic Stiffness Modeling and Performance Evaluation of a 2UPR–2PRU Redundantly Actuated Parallel Manipulator |
| title_sort | elastostatic stiffness modeling and performance evaluation of a 2upr 2pru redundantly actuated parallel manipulator |
| topic | parallel manipulator actuation redundancy elastostatic stiffness modeling performance evaluation |
| url | https://www.mdpi.com/2075-1702/10/12/1219 |
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