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RISS 인기검색어
- 검색키워드
- 저자 : Jiangping Mei (검색결과 2 건)
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Elastodynamic-model-based stiffness analysis of a 6-RSS PKM
Jiangping Mei,Yanqin Zhao 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.9
An elastodynamic model for a 6-RSS parallel kinematic machine (PKM) is established by combining the virtual joint method (VJM) and the finite element method (FEM). According to the proposed elastodynamic model, stiffness matrix of the system is derived, based on which static stiffness of the system is analyzed. In order to validate the proposed model, finite element analysis is conducted. Results show that the proposed model is relatively accurate and can be used to evaluate rigidity of the 6-RSS PKM. Two stiffness indices are proposed for the convenience of analysis. Stiffness distributions as well as parametric analysis are conducted to offer significant guidance on the trajectory planning and structural optimization at the early design stage.
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Fan Zhang,Jiangping Mei,Yanqin Zhao 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.3
Existing high-speed parallel robots cannot satisfy the operating requirements of non-planar industrial generating line. Considering this problem, this study proposes a comprehensive index that can be used for the dimensional synthesis design of a six-degrees-offreedom (6-DOF) (three translations and three rotations) parallel robot. The index is based on kinematic, coupling characteristic, and dynamic analyses. A comparison with the dimensional parameters of a previously designed robot shows that the proposed design method can effectively decrease the indexes in various aspects and improve the motion performance of the robot. In addition, the servo motor specifications are estimated using the common trajectory and seven-time B-spline curve motion law to meet the robot motion requirements. Therefore, the proposed design approach has successfully been used to guide and develop the design process of the 6-DOF high-speed parallel robot.
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