Print Email Facebook Twitter Integrated Stiffness Analysis of Redundant Parallel Manipulator Based on Finite Element Method Title Integrated Stiffness Analysis of Redundant Parallel Manipulator Based on Finite Element Method Author Wang, S. Cheng, G. Pang, Y. Lodewijks, G. Faculty Mechanical, Maritime and Materials Engineering Department Marine and Transport Technology Date 2015-01-01 Abstract An integrated stiffness model is established for a Planar Parallel Manipulator (PPM) with actuation redundancy based on Finite Element Method (FEM), and the static stiffness, dynamitic stiffness and moving stiffness of the PPM are analyzed according to the integrated stiffness model. Firstly, a dynamic model of flexible plane beam element is created as a basic unit for branches. Secondly, each branch is assembled in generalized coordinates, and the integrated stiffness model of the PPM is established. Then calculation and simulation for the static stiffness, dynamitic stiffness and moving stiffness are carried out. The results show that the static stiffness and dynamitic stiffness are related with the position and posture of the PPM. The moving stiffness shows that the elastic deformations cause the oscillation of the PPM. In this paper, three stiffness models are unified in the integrated stiffness model, which improves the efficiency of the stiffness calculation and mechanism design. Subject parallel manipulatorFinite Element Methodintegrated stiffnessdynamics To reference this document use: http://resolver.tudelft.nl/uuid:1ce0cb99-34dc-4e05-b4b9-cf5c7304b1d1 DOI https://doi.org/10.12733/jics20105539 Publisher Binary Information Press ISSN 1548-7741 Source Journal of Information and Computational Science, 12 (1), 2015 Part of collection Institutional Repository Document type journal article Rights © 2015 Binary Information Press Files PDF 314813.pdf 3.3 MB Close viewer /islandora/object/uuid:1ce0cb99-34dc-4e05-b4b9-cf5c7304b1d1/datastream/OBJ/view