Research on stiffness characteristics of 6-DOF parallel robot driven by digital hydraulic cylinder
Compared with the electro-hydraulic servo cylinder drive,the 6-DOF parallel robot with digital hydraulic cylinder drive has the advantages of low cost,high reliability,strong anti-pollution ability and simple structure.To study the stiffness characteristics of the 6-DOF parallel robot driven by the digital hydraulic cylinder,the mathematical model of the digital hydraulic cylinder is firstly established and the closed-loop stiffness is derived,and then the error transmission model of the 6-DOF parallel robot is established based on the total differential method.Based on the closed loop stiffness of the digital hydraulic cylinder,the stiffness matrix of the 6-DOF parallel robot driven by the digital hydraulic cylinder is derived and the influencing factors of the stiffness matrix are analyzed.AMESim simulation model is established and the simulation research is carried out.The relationship between the inherent parameters of the parallel robot,such as the stiffness of each degree of freedom,the positive opening,the ball screw lead,and the position and pose of the parallel robot is revealed.The results also show that when the parallel robot moves in the direction other than the heave direction,there is a coupling between the heave and other degrees of freedom,and the coupling stiffness varies with the pose of the parallel robot.The research has a certain theoretical value and practical significance for the development and application of the 6-DOF parallel robot driven by the digital hydraulic cylinder.
digital hydraulic cylinder6-DOF parallel robotstiffness matrixAMESimerror model
NETL
NSTL
万方数据
