Paper Title:
Stiffness Analysis for a Novel Parallel-Robot Based High-Precision Flexible Assembly Fixture
  Abstract

In this paper, a novel parallel mechanism (3-RRRS/UPR) used in flexible fixture with configuration composed of two parallel robots (2-RR and 3-RRRS/ UPR) is presented. First, system modeling including the mobility study is conducted. Then a novel methodology is proposed that makes use of screw theory to analyze the deformation and stiffness of the mechanism: firstly we identified the existence of the deformation of the subchain, in terms of the relationship between the effective screw and deformation screw; then we took the deformation as an infinitesimal motion of the mechanism, and the stiffness matrix corresponding to the deformation can be deduced. Finally the global stiffness matrix of the whole mechanism is modeled by assembling different stiffness characters based on the presented methodology.

  Info
Periodical
Key Engineering Materials (Volumes 364-366)
Edited by
Guo Fan JIN, Wing Bun LEE, Chi Fai CHEUNG and Suet TO
Pages
327-332
DOI
10.4028/www.scientific.net/KEM.364-366.327
Citation
H. J. Yu, B. Li, X. J. Yang, Y. Hu, H. Hu, "Stiffness Analysis for a Novel Parallel-Robot Based High-Precision Flexible Assembly Fixture", Key Engineering Materials, Vols. 364-366, pp. 327-332, 2008
Online since
December 2007
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$32.00
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