tailieunhanh - Advances in robot manipulators_2

Tham khảo sách 'advances in robot manipulators_2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 17 Enhanced stiffness modeling of serial manipulators with passive joints Anatol Pashkevich1 2 Alexandr Klimchik1 2 and Damien Chablat2 1Ecole des Mines de Nantes 2Institut de Recherches en Communications et Cybernetique de Nantes France Abstract The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints which are widely used in parallel robotic systems. In contrast to previous works the stiffness is evaluated for the loaded working mode corresponding to the static equilibrium of the elastic forces and the external wrench acting upon the manipulator end point. It is assumed that the manipulator elasticity is described by a multidimensional lumped-parameter model which consists of a chain of rigid bodies connected by 6-dof virtual springs. Each of these springs characterize flexibility of the corresponding link or actuating joint and takes into account both their translational rotational compliance and the coupling between them. The proposed technique allows finding the full-scale loaddeflection relation for any given workspace point and to linearise it taking into account variation of the manipulator Jacobian due to the external load. These enable evaluating critical forces that may provoke non-linear behavior of the manipulator such as sudden failure due to elastic instability buckling . The advantages of the developed technique are illustrated by several examples that deal with kinematic chains employed in typical parallel manipulators. Keywords Stiffness model external loading kinetostatic analysis passive joints buckling divergence of equilibrium static stability 1. Introduction Due to the increasing industrial needs novel approaches in mechanical design of robotic manipulators are targeted at essential reduction of moving masses and achieving high dynamic performances with relatively low energy consumption. This motivates using advanced kinematical architectures and light-weight materials as well as .

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