The Analyse on Stiffness Model of 3-PPSR Flexible Parallel Robot

Abstract:

In order to achieve greater workspace motion, it’s designed a high aspect ratio 3-PPSR flexible parallel robot, driven by a piezoelectric motor, connected by flexible hinges, which has the advantages of simple structure, non singular, seamless, high motion precision. Because of the stiffness of the system directly affecting the motion accuracy, load bearing performance, according to the characteristics of high aspect ratio flexible hinge, It’s established the mathematical model of flexible hinge through finite element method. Using method of integral stiffness, conbined coordination equation with force balance equation, the flexible stiffness model of system is obtained. Finally, through using Ansys, it’s confirmed the validity of the theoretical model by comparing of the theoretical stiffness model results with the finite element analysis of the model results, to provide a reliable guarantee for optimization and analysis of kinematics and dynamics of flexible parallel robot.

• Periodical: Applied Mechanics and Materials (Volumes 716-717)
• Pages: 1643-1647
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.716-717.1643
• Online since: December 2014
• Authors: Yu Liang Luan*, Wei Bin Rong, Li Ning Sun
• Keywords: Finite Element Analysis (FEA), Flexible Hinge, Parallel Robot, Stiffness Model

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