2012•Journal of Mechanisms and RoboticsRequires access

Statics and Stiffness Model of Serial-Parallel Manipulator Formed by k Parallel Manipulators Connected in Series

Bo Hu, Yu Jingjing, Yi Lü, Chunping Sui, Jianda Han

Abstract

Abstract The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First, the unified formulae for solving the statics and stiffness of S-PMs are derived. Second, a k(PS + RPS + SPS) S-PM is analyzed to illustrate this model. Finally, an analytic solved example for 5(PS + RPS + SPS) S-PM is given. The established model can offer an essential theoretical basis for S-PMs.

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Key concepts: Statics, Parallel manipulator, Stiffness, Serial manipulator, Series (stratigraphy), Manipulator (device), Computer science, Control theory (sociology)