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Constraint stiffness construction and decomposition of a SPS orthogonal parallel mechanism

Research output: Chapter in Book/Report/Conference proceedingConference paper

Original languageEnglish
Title of host publicationASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherASME Press
Volume5C-2015
DOIs
Publication statusPublished - Aug 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: 2 Aug 20155 Aug 2015

Conference

ConferenceASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period2/08/20155/08/2015

King's Authors

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.

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