This paper presents an approach to compliance modeling of three-translation and two-rotation (3T2R) overconstrained parallel manipulators, especially for those with multilink and multijoint limbs. The expressions of applied wrenches (forces/torques) exerted on joints are solved with few static equilibrium equations based on screw theory. A systematic method is proposed for deriving the stiffness model of a limb with considering the couplings between the stiffness along the constrained wrench and the one along the actuated wrench based on strain energy analysis. The compliance model of a 3T2R overconstrained parallel mechanism is established based on stiffness models of limbs and the static equilibrium equation of the moving platform. Comparisons show that the compliance matrix obtained from the method is close to the one obtained from a finite-element analysis (FEA) model. The proposed method has the characteristics of involving low computational efforts and considering stiffness couplings of each limb.
A Method for Compliance Modeling of Five Degree-of-Freedom Overconstrained Parallel Robotic Mechanisms With 3T2R Output Motion
Manuscript received June 24, 2016; final manuscript received November 9, 2016; published online December 22, 2016. Assoc. Editor: Raffaele Di Gregorio.
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Cao, W., Ding, H., and Yang, D. (December 22, 2016). "A Method for Compliance Modeling of Five Degree-of-Freedom Overconstrained Parallel Robotic Mechanisms With 3T2R Output Motion." ASME. J. Mechanisms Robotics. February 2017; 9(1): 011011. https://doi.org/10.1115/1.4035270
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