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Stiffness and singularity analysis of foldable parallel mechanism for ship-based stabilized platform

Published online by Cambridge University Press:  17 July 2014

Tie-shi Zhao,
Chang Wang,
Xiao Liu,
Hui Bian and
Yan-zhi Zhao
Tie-shi Zhao*
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China
Chang Wang
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China
Xiao Liu
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China
Hui Bian
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China
Yan-zhi Zhao
Affiliation:
Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004, ChinaKey Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University), Ministry of Education of China, Qinhuangdao 066004, China
*
*Corresponding author. E-mail: tszhao@ysu.edu.cn
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Summary

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This paper investigates a 6-degree-of-freedom foldable parallel mechanism for the ship-based stabilized platform, which is driven by closed chain linkages. The velocity and acceleration mappings between the moving platform and inputs of the closed chain linkages are deduced in the form of the first- and second-order influence coefficient matrices. The continuous stiffness matrix is deduced; furthermore, the translation and rotational stiffness along any direction are also deduced. With directional stiffness, the singularity of the mechanism is analyzed, and the explanation of the singularity is given from the viewpoint of stiffness. The directions the platform cannot move or lose its constraints are got from directional stiffness.

Keywords

Foldable parallel mechanismClosed chain linkagesStiffnessSingularityInfluence matrix

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016, pp. 913 - 924
Copyright
Copyright © Cambridge University Press 2014 

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