A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart
This study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is simplified into a planar redundant parallel manipu...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-11-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814017733690 |
| _version_ | 1818491991804084224 |
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| author | Liping Wang Guang Yu Jun Wu |
| author_facet | Liping Wang Guang Yu Jun Wu |
| author_sort | Liping Wang |
| collection | DOAJ |
| description | This study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is simplified into a planar redundant parallel manipulator to derive the kinematic and dynamic models using a symmetrical architecture. The stiffness model is derived with a matrix structural method, and the dynamic model is obtained. The position and orientation workspace is analyzed, and the conditioning performances of the redundant manipulator and the nonredundant counterpart are assessed. Next, we contrast the stiffness and natural frequency of the redundant parallel manipulator with its nonredundant counterpart. The simulation results indicate that the redundant parallel manipulator has a greater stiffness and a higher natural frequency in the workspace. The redundant parallel manipulator is a preferred choice for developing this parallel conveyor. |
| first_indexed | 2024-12-10T17:37:47Z |
| format | Article |
| id | doaj.art-ab53bea7da7b457db4a6217449c80950 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-10T17:37:47Z |
| publishDate | 2017-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-ab53bea7da7b457db4a6217449c809502022-12-22T01:39:29ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402017-11-01910.1177/1687814017733690A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpartLiping Wang0Guang Yu1Jun Wu2Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, ChinaBeijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, ChinaBeijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipments and Control, Tsinghua University, Beijing, ChinaThis study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is simplified into a planar redundant parallel manipulator to derive the kinematic and dynamic models using a symmetrical architecture. The stiffness model is derived with a matrix structural method, and the dynamic model is obtained. The position and orientation workspace is analyzed, and the conditioning performances of the redundant manipulator and the nonredundant counterpart are assessed. Next, we contrast the stiffness and natural frequency of the redundant parallel manipulator with its nonredundant counterpart. The simulation results indicate that the redundant parallel manipulator has a greater stiffness and a higher natural frequency in the workspace. The redundant parallel manipulator is a preferred choice for developing this parallel conveyor.https://doi.org/10.1177/1687814017733690 |
| spellingShingle | Liping Wang Guang Yu Jun Wu A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart Advances in Mechanical Engineering |
| title | A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| title_full | A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| title_fullStr | A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| title_full_unstemmed | A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| title_short | A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| title_sort | comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart |
| url | https://doi.org/10.1177/1687814017733690 |
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