Stiffness distribution and homogeneity of mechanical structures with application to planar robots

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
Zdenek Neusser
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引用次数: 0

Abstract

This work presents static stiffness analysis of mechanical structure. Using singular value decomposition, the principal stiffness values and their directions are obtained at every particular workspace point. Based on obtained principal stiffness magnitudes the stiffness homogeneity is evaluated at every workspace point. New methodology for mechanical structure stiffness analysis is applied to serial two-link planar robot and 2-DOF parallel planar robot mounted on base frame by two sliding ways. Resulting contour plots of minimal stiffness behaviour and system homogeneity distribution allow further structure improvement and optimal usage.
机械结构的刚度分布和均匀性及其在平面机器人中的应用
本文介绍了机械结构的静刚度分析。利用奇异值分解方法,得到了各工作空间点的主刚度值及其方向。根据得到的主刚度值对各工作空间点的刚度均匀性进行了评价。将一种新的机械结构刚度分析方法应用于两连杆并联平面机器人和两自由度并联平面机器人。所得的最小刚度行为和系统均匀性分布的轮廓图允许进一步的结构改进和最佳使用。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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