|
|
|
| Stiffness Modeling and Simulation of Electric Stewart Parallel Mechanism Considering Elasticity of Components |
| Lv Bangjun Peng Likun Xiong Xianfeng |
| Naval University of Engineering，Wuhan，430033 |
|
|
|
Abstract Based on lumped modeling and finite element analysis, stiffness model of Stewart mechanism is established, which takes into account the elastic deformation of driving joints, passive universal joints and moving components, and the effect of preloading. By adding virtual joints to describe the elasticity of components, the branch is presented as a series of rigid components connected with active, passive and virtual joints. The numerical method of moving and virtual joints kinematic Jacobian matrix is developed. The static balance equation was obtained by applying the principle of virtual work, and stiffness matrices without/under preloading are established. The proposed model considers not only the control loop stiffness, but also the result of finite element analysis combined with analytical modeling. The computation cost was reduced while ensuring the accuracy. The stiffness distribution differences between two models were examined through an example.
|
|
Received: 17 April 2012
|
|
|
|
|
|
|
2013, Vol. 32 
