Robotica: decoupled elastostatic stiffness modeling of hybrid robots

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-05-24 DOI:10.1017/s0263574724000675
Baoyu Wang, Peixing Li, Chao Yang, Xudong Hu, Yanzheng Zhao
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Abstract

A decoupling method is proposed for the elastic stiffness modeling of hybrid robots based on the rigidity principle, screw theory, strain energy, and Castigliano’s second theorem. It enables the decoupling of parallel and serial modules, as well as the individual contributions of each elastic component to the mechanism’s stiffness performance. The method is implemented as follows: (1) formulate limb constraint wrenches and corresponding limb stiffness matrix based on the screw theory and strain energy, (2) formulate the overall stiffness matrix of parallel and serial modules corresponding to end of the hybrid robots based on the rigidity principle, principle of virtual work, the wrench transfer formula, and strain energy methods, and (3) obtain and decouple the overall stiffness matrix and deflection of the robot based on the Castigliano’s second theorem. Finally, A planar hybrid structure and the 4SRRR + 6R hybrid robot are used as illustrative examples to implement the proposed method. The results indicate that selectively enhancing the stiffness performance of the mechanism is the most effective approach.
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Robotica:混合机器人的解耦弹性刚度建模
基于刚度原理、螺杆理论、应变能和卡斯提利亚诺第二定理,提出了混合机器人弹性刚度建模的解耦方法。该方法可以解耦并行和串行模块,以及每个弹性组件对机构刚度性能的单独贡献。该方法的实现过程如下(1) 基于螺钉理论和应变能,制定肢体约束扳手和相应的肢体刚度矩阵;(2) 基于刚度原理、虚功原理、扳手传递公式和应变能方法,制定混合机器人端部对应的并联模块和串联模块的整体刚度矩阵;(3) 基于卡斯提利亚诺第二定理,获得并解耦机器人的整体刚度矩阵和挠度。最后,以平面混合结构和 4SRRR + 6R 混合机器人为例,说明了所提方法的实现过程。结果表明,选择性地增强机构的刚度性能是最有效的方法。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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