Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Chinese Journal of Mechanical Engineering

Original Article

Bo Chen¹  Guoxing Zhang¹  Jinwei Guo¹  Jiantao Yao²  Yongsheng Zhao²  Yundou Xu² 

[1]Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, 066004, Qinhuangdao, China

[2]Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, 066004, Qinhuangdao, China

[3]Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education, Yanshan University, 066004, Qinhuangdao, China

关键词: Active overconstrained;    Passive overconstrained;    Passive-input overconstrained;    Equivalent stiffness;    Force distribution;   

DOI  :  10.1186/s10033-023-00845-1

 received in 2021-06-17, accepted in 2023-01-06,  发布年份 2023

来源: Springer

【 摘 要 】

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability, but its force analysis is complex and difficult because the mechanism system contains overconstraints. Considering the limb axial deformation, taking typical 2SS+P and 7-SS passive overconstrained mechanisms, 2SPS+P and 7-SPS active overconstrained mechanisms, and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples, a new force analysis method based on the idea of equivalent stiffness is proposed. The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations. The relationship between the constraint wrench magnitudes and the external force, limb stiffness is established. The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations. Here, the relationship between the magnitudes of the actuated wrenches and the external force, limb stiffness is investigated. Combining with the equivalent stiffness of the passive overconstrained mechanism, an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement, limb stiffness is explored. Finally, adaptability of the equivalent stiffness to overconstrained mechanisms is discussed, and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed. The research results provide a theoretical reference for the design, research and practical application of overconstrained mechanism.

【 授权许可】

CC BY   
© The Author(s) 2023

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