Research on Static Stiffness of Reconfigurable 3-RPR Planar Parallel Mechanism
Taking the 3-RPR planar parallel mechanism as the research object,the mechanism reconfiguration was realized by de-signing a moving pair and a rotating pair locking device that could switch between driving,passive&locking states.The static stiffness characteristics of the mechanism before and after reconfiguration were theoretically modeled and simulated by software;the topological reconfiguration of the mechanism was realized by locking any two kinematic pairs;the locking modes were classified according to the motion state of the moving platform,and the inverse kinematics model was established.Then,the Jacobian of the mechanism was de-rived,and the static stiffness matrix was derived based on the principle of virtual power.Finally,the statics virtual experiments of the mechanism before and after reconfiguration were carried out,and the experimental data were compared and analyzed.The results show that topological reconfiguration can improve the static stiffness performance of the planar parallel mechanism.In particular,the static stiffness performance of the moving platform is especially improved when it is rotated with fixed axis.This provides a theoretical basis for the performance evaluation and parameter optimization of the low-degrees-of-freedom reconfigurable parallel mechanism.
parallel mechanismtopology reconfigurationJacobian matrixstatic stiffnessprinciple of virtual power
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