A virtual joint method of analytical form for parallel manipulators

doi:10.1177/09544062211016076

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	A virtual joint method of analytical form for parallel manipulators
	H. Zhang; Z. Xu; H. Han; C. Han; Y. Yu and M. Xia
刊名	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
	2021
卷号	235 期号:23 页码:6893-6907
ISSN号	9544062
DOI	10.1177/09544062211016076
英文摘要	Oriented towards the stiffness optimization of parallel manipulators, a stiffness modeling method based on subspace analysis was proposed. The paper revealed the "shielding effect" of passive joints, i.e. shielding the partial local stiffness of a mechanism on Cartesian space, and accordingly brought forward the concept of Effective Stiffness Tensor (EST), which was then obtained by introducing the orthogonal projector. The method allows a stiffness model of analytical form as well as high computation efficiency, which makes it suitable for applications in the stiffness optimization of parallel manipulators. Proposed method had been applied to the parallel alignment mechanism in Chinas large space telescope and verified by dynamic experiments. IMechE 2021.
URL标识	查看原文
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/65745]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	H. Zhang,Z. Xu,H. Han,et al. A virtual joint method of analytical form for parallel manipulators[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,2021,235(23):6893-6907.
APA	H. Zhang,Z. Xu,H. Han,C. Han,&Y. Yu and M. Xia.(2021).A virtual joint method of analytical form for parallel manipulators.Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science,235(23),6893-6907.
MLA	H. Zhang,et al."A virtual joint method of analytical form for parallel manipulators".Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 235.23(2021):6893-6907.