Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism

Chen Qiu; Jian S. Dai

doi:10.1115/DETC2015-46811

Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism

Chen Qiu^*, Jian S. Dai

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

2 Citations (Scopus)

Abstract

This paper investigates both stiffness analysis and synthesis problems using a physical prototype of one SPS orthogonal parallel mechanism. This parallel mechanism is supported with line-Type constraint limbs. In the stiffness analysis, a reciprocal relationship between motions and wrenches is used to design layouts of constraint limbs and construct the corresponding stiffness matrix. In the stiffness synthesis, the developed stiffness matrix is decomposed to obtain configurations of constraint limbs based on existing synthesis algorithms, including direct-recursion and matrix-partition approaches. It is revealed the line-vector based matrix-partition approach can establish an one-To-one correspondence between synthesized results and constraint limbs of the parallel mechanism. Subsequently both types of synthesis approaches are applied to decomposing the developed constraint stiffness matrix. The comparison results suggest the modified matrix-partition approach can obtain decomposed constraint limbs exactly the same as those used to construct the stiffness matrix.

Original language	English
Title of host publication	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Publisher	ASME Press
Volume	5C-2015
DOIs	https://doi.org/10.1115/DETC2015-46811
Publication status	Published - Aug 2015
Event	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States Duration: 2 Aug 2015 → 5 Aug 2015

Conference

Conference	ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Country/Territory	United States
City	Boston
Period	2/08/2015 → 5/08/2015

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10.1115/DETC2015-46811

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title = "Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism",

abstract = "This paper investigates both stiffness analysis and synthesis problems using a physical prototype of one SPS orthogonal parallel mechanism. This parallel mechanism is supported with line-Type constraint limbs. In the stiffness analysis, a reciprocal relationship between motions and wrenches is used to design layouts of constraint limbs and construct the corresponding stiffness matrix. In the stiffness synthesis, the developed stiffness matrix is decomposed to obtain configurations of constraint limbs based on existing synthesis algorithms, including direct-recursion and matrix-partition approaches. It is revealed the line-vector based matrix-partition approach can establish an one-To-one correspondence between synthesized results and constraint limbs of the parallel mechanism. Subsequently both types of synthesis approaches are applied to decomposing the developed constraint stiffness matrix. The comparison results suggest the modified matrix-partition approach can obtain decomposed constraint limbs exactly the same as those used to construct the stiffness matrix.",

author = "Chen Qiu and Dai, {Jian S.}",

year = "2015",

month = aug,

doi = "10.1115/DETC2015-46811",

language = "English",

volume = "5C-2015",

booktitle = "ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference",

publisher = "ASME Press",

note = "ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 ; Conference date: 02-08-2015 Through 05-08-2015",

}

Qiu, C & Dai, JS 2015, Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism. in ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. vol. 5C-2015, ASME Press, ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 2/08/2015. https://doi.org/10.1115/DETC2015-46811

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T1 - Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism

AU - Qiu, Chen

AU - Dai, Jian S.

PY - 2015/8

Y1 - 2015/8

N2 - This paper investigates both stiffness analysis and synthesis problems using a physical prototype of one SPS orthogonal parallel mechanism. This parallel mechanism is supported with line-Type constraint limbs. In the stiffness analysis, a reciprocal relationship between motions and wrenches is used to design layouts of constraint limbs and construct the corresponding stiffness matrix. In the stiffness synthesis, the developed stiffness matrix is decomposed to obtain configurations of constraint limbs based on existing synthesis algorithms, including direct-recursion and matrix-partition approaches. It is revealed the line-vector based matrix-partition approach can establish an one-To-one correspondence between synthesized results and constraint limbs of the parallel mechanism. Subsequently both types of synthesis approaches are applied to decomposing the developed constraint stiffness matrix. The comparison results suggest the modified matrix-partition approach can obtain decomposed constraint limbs exactly the same as those used to construct the stiffness matrix.

AB - This paper investigates both stiffness analysis and synthesis problems using a physical prototype of one SPS orthogonal parallel mechanism. This parallel mechanism is supported with line-Type constraint limbs. In the stiffness analysis, a reciprocal relationship between motions and wrenches is used to design layouts of constraint limbs and construct the corresponding stiffness matrix. In the stiffness synthesis, the developed stiffness matrix is decomposed to obtain configurations of constraint limbs based on existing synthesis algorithms, including direct-recursion and matrix-partition approaches. It is revealed the line-vector based matrix-partition approach can establish an one-To-one correspondence between synthesized results and constraint limbs of the parallel mechanism. Subsequently both types of synthesis approaches are applied to decomposing the developed constraint stiffness matrix. The comparison results suggest the modified matrix-partition approach can obtain decomposed constraint limbs exactly the same as those used to construct the stiffness matrix.

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DO - 10.1115/DETC2015-46811

M3 - Conference paper

AN - SCOPUS:84979085493

VL - 5C-2015

BT - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference

PB - ASME Press

T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015

Y2 - 2 August 2015 through 5 August 2015

ER -

Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism

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