Stiffness Analysis of the Parallel Manipulator with a Compound Drive Branch
A novel 4-DOF parallel manipulator with a compound drive branch is designed for supporting helicopter rotor.The workspace of the parallel manipulator is increased by the compound drive branch.The kinematic relationship between the driving branches and the moving platform is deduced.The formulas for solving the longitudinal elastic deformation,the transverse elastic deformation and the elastic rotational deformation are derived for the compound drive branch and the formulas for solving the stiffness matrix of the mechanism are derived.Finally,the correctness of the stiffness matrix of the mechanism is verified by finite element method.The simulation results show that the stiffness of the mechanism satisfies the actual needs,that provide the theoret-ical and technical foundations for its application.
Parallel ManipulatorCompound Drive BranchStiffness MatrixFinite Element
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