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Research Papers

Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series

[+] Author and Article Information
Bo Hu1

Robotics Research Center,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinahubo@ysu.edu.cn

Jingjing Yu

Robotics Research Center,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinae-mail: yujingjing_725@126.com

Yi Lu

Robotics Research Center,  Yanshan University, Qinhuangdao, Hebei 066004, P. R. Chinaluyi@ysu.edu.cn

Chunping Sui

State Key Laboratory of Robotics,  Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, P. R. Chinacpsui@sia.cn

Jianda Han

State Key Laboratory of Robotics,  Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, P. R. Chinajdhan@sia.cn

1

Corresponding author.

J. Mechanisms Robotics 4(2), 021012 (Apr 25, 2012) (8 pages) doi:10.1115/1.4006190 History: Received December 30, 2010; Revised January 09, 2012; Published April 25, 2012; Online April 25, 2012

The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

Sketch of PS + RPS + SPS PM

Grahic Jump Location
Figure 2

5(PS + RPS + SPS) S-PM

Grahic Jump Location
Figure 3

Solved results of elastic deformations of EF model of 5(PS + RPS + SPS) S-PM

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