A virtual joint method of analytical form for parallel manipulators

doi:10.1177/09544062211016076

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	A virtual joint method of analytical form for parallel manipulators
	H. Zhang; Z. Xu; H. Han; C. Han; Y. Yu and M. Xia
	2021
发表期刊	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
ISSN	9544062
卷号	235 期号:23 页码:6893-6907
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.
DOI	10.1177/09544062211016076
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收录类别	SCI ; EI
引用统计
文献类型	期刊论文
条目标识符	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.

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