Static Stiffness Analysis on Spatial Rotation 4-SPS-S Parallel Robot Mechanism with a Passive Constraining Spherical Joint


The paper focuses on a spatial rotation three Degree of Freedom (DOF) 4-SPS-S parallel robot mechanism, which has four SPS Active Legs and one passive constraining leg. The geometric model of the robot mechanism is introduced, and then velocity mapping equation and Jacobian matrix for the mechanism are developed. Based on principle of virtual work and sub-structure synthesis method, stiffness analysis model is established for the mechanism. Through orthogonal transformation of the stiffness matrix and diagonalizing the stiffness matrix, the mechanism's main stiffness indexes on 6 directions and directions along which max or mini stiffness occur are derived, and the distribution of main stiffness values of various directions over the entire workspace is disclosed. This paper provides theoretical foundations for engineering design and application for this class of parallel robot mechanism.

  • Abstract
  • Key Words
  • 1 Introduction
  • 2 Description of the Mechanism and Jacobian Matrix
  • 3 Stiffness Matrix Analysis Model
  • 4 Main Stiffness and Main Direction of the Machenism
  • 5 Engineering Numerical Example and Analysis
  • 6 Conclusion
  • References

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