Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/13460
Title: | Stiffness Modeling of a 2-Dof Over-Constrained Planar Parallel Mechanism | Authors: | Görgülü, İbrahimcan Dede, Mehmet İsmet Can Kiper, Gökhan |
Keywords: | Industrial robots Over-constrained structure Stiffness modeling Time-efficient computation Virtual joint method |
Publisher: | Elsevier | Abstract: | Stiffness model acquisition of over-constrained parallel mechanisms is relatively difficult since they have more than necessary kinematic loops. In this study, a stiffness modeling solution for over-constrained parallel mechanisms is proposed while considering the computational cost efficiency. Three contributions of the paper are: (1) Presenting the stiffness modeling procedure for serially connected closed-loop structures by using the Virtual Joint Method (2) Considering the effect of dynamic auxiliary forces and dynamic external forces on the mobile platform's deflection and achieving a direct solution by using superposition principle (3) A model fitting procedure for modifying the stiffness coefficients to comply with the experimental data. A 2 degrees-of-freedom over-constrained parallel mechanism is investigated as a case study. However, the proposed stiffness model is 6-DoF since compliant deflections occur in any direction. A finite element analysis and an experimental study verify the model's results. | URI: | https://doi.org/10.1016/j.mechmachtheory.2023.105343 https://hdl.handle.net/11147/13460 |
ISSN: | 0094-114X |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Files in This Item:
File | Description | Size | Format | |
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Stiffness Paper Preprint.pdf | Article File | 7.24 MB | Adobe PDF | View/Open |
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