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Stiffness analysis of the 3SPS+1PS bionic parallel test platform for a hip joint simulator

Published online by Cambridge University Press:  27 March 2013

Gang Cheng,
Jingli Yu,
Peng Xu and
Houguang Liu
Gang Cheng*
Affiliation:
College of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
Jingli Yu
Affiliation:
College of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
Peng Xu
Affiliation:
College of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
Houguang Liu
Affiliation:
College of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
*
*Corresponding author. E-mail: chgcumt@gmail.com
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Summary

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A novel parallel hip joint simulator, called 3SPS+1PS bionic parallel test platform, with 4 degrees of freedom including three rotations and one translation is designed to represent three-dimensional motion and compound friction movement of a human hip joint and to be a better simulator for testing the tribology performance of biomaterials for hip joint prosthesis. Stiffness is one of the most important performances of parallel manipulators, as well as for the 3SPS+1PS parallel manipulator with higher speeds. First, the differential kinematic/static model was derived based on the kinematics model. The relationship between the elastic deformation of each active leg and the variation of position/orientation deformation of the moving platform was described based on the virtual work principle. Then, a 6 × 6 global stiffness matrix of the 3SPS+1PS parallel manipulator was derived. The maximum versus minimum eigenvalues of the global stiffness matrix were obtained as its two evaluation indexes. By letting the 3SPS+1PS bionic parallel test platform represent three rotation motions and the dynamic loading of the human hip joint as described by ISO 14242 Part-1, the forces acted on each active leg and their responding elastic deformations were analyzed. The distributions for maximum and minimum stiffness in different workspace were detected. Finally, the results showed that the minimum stiffness in the whole workspace should be larger than the allowable stiffness of the 3SPS+1PS parallel manipulator.

Keywords

3SPS+1PS bionic parallel test platformHip joint simulatorStiffness analysisISO 1424 Part-1

Information

Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013, pp. 935 - 944
Copyright
Copyright © Cambridge University Press 2013 

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