Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism
Traditional stiffness modeling methods do not consider all factors comprehensively, and the modeling methods are not unified, lacking a global stiffness model. Based on screw theory, strain energy and the virtual work principle, a static stiffness modeling method for redundant over-constrained paral...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/23/13/5916 |
| _version_ | 1797590863076917248 |
|---|---|
| author | Sen Wang Haoran Li Xueyan Han Jiahao Wei Tao Zhang Shihua Li |
| author_facet | Sen Wang Haoran Li Xueyan Han Jiahao Wei Tao Zhang Shihua Li |
| author_sort | Sen Wang |
| collection | DOAJ |
| description | Traditional stiffness modeling methods do not consider all factors comprehensively, and the modeling methods are not unified, lacking a global stiffness model. Based on screw theory, strain energy and the virtual work principle, a static stiffness modeling method for redundant over-constrained parallel mechanisms (PMs) with clearance was proposed that considers the driving stiffness, branch deformation, redundant driving, joint clearance and joint contact deformation. First, the driving stiffness and branch deformation were considered. According to the strain energy and Castiliano’s second theorem, the global stiffness matrix of the ideal joint mechanism was obtained. The offset of the branch was analyzed according to the restraint force of each branch. The mathematical relationship between the joint clearance and joint contact deformation and the end deformation was established. Based on the probability statistical model, the uncertainty of the offset value of the clearance joint and the contact area of the joint caused by the coupling of the branch constraint force was solved. Finally, taking a 2UPR-RR-2RPU redundant PM as an example, a stiffness simulation of the mechanism was carried out using the finite element method. The research results show that the high-precision stiffness modeling method proposed in this paper is correct, and provides an effective method for evaluating the stiffness performance of the PM. |
| first_indexed | 2024-03-11T01:29:30Z |
| format | Article |
| id | doaj.art-8e4c7f27a19d497183b6df2ff73253ac |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T01:29:30Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8e4c7f27a19d497183b6df2ff73253ac2023-11-18T17:28:40ZengMDPI AGSensors1424-82202023-06-012313591610.3390/s23135916Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel MechanismSen Wang0Haoran Li1Xueyan Han2Jiahao Wei3Tao Zhang4Shihua Li5Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaParallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004, ChinaTraditional stiffness modeling methods do not consider all factors comprehensively, and the modeling methods are not unified, lacking a global stiffness model. Based on screw theory, strain energy and the virtual work principle, a static stiffness modeling method for redundant over-constrained parallel mechanisms (PMs) with clearance was proposed that considers the driving stiffness, branch deformation, redundant driving, joint clearance and joint contact deformation. First, the driving stiffness and branch deformation were considered. According to the strain energy and Castiliano’s second theorem, the global stiffness matrix of the ideal joint mechanism was obtained. The offset of the branch was analyzed according to the restraint force of each branch. The mathematical relationship between the joint clearance and joint contact deformation and the end deformation was established. Based on the probability statistical model, the uncertainty of the offset value of the clearance joint and the contact area of the joint caused by the coupling of the branch constraint force was solved. Finally, taking a 2UPR-RR-2RPU redundant PM as an example, a stiffness simulation of the mechanism was carried out using the finite element method. The research results show that the high-precision stiffness modeling method proposed in this paper is correct, and provides an effective method for evaluating the stiffness performance of the PM.https://www.mdpi.com/1424-8220/23/13/5916redundant parallel mechanismstiffnessjoint clearancejoint contact deformationprobability statistical model |
| spellingShingle | Sen Wang Haoran Li Xueyan Han Jiahao Wei Tao Zhang Shihua Li Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism Sensors redundant parallel mechanism stiffness joint clearance joint contact deformation probability statistical model |
| title | Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism |
| title_full | Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism |
| title_fullStr | Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism |
| title_full_unstemmed | Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism |
| title_short | Research on High Precision Stiffness Modeling Method of Redundant Over-Constrained Parallel Mechanism |
| title_sort | research on high precision stiffness modeling method of redundant over constrained parallel mechanism |
| topic | redundant parallel mechanism stiffness joint clearance joint contact deformation probability statistical model |
| url | https://www.mdpi.com/1424-8220/23/13/5916 |
| work_keys_str_mv | AT senwang researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism AT haoranli researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism AT xueyanhan researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism AT jiahaowei researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism AT taozhang researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism AT shihuali researchonhighprecisionstiffnessmodelingmethodofredundantoverconstrainedparallelmechanism |