Abstract
An integrated stiffness model is established for a Planar Parallel Manipulator (PPM) with actuation redundancy based on Finite Element Method (FEM), and the static stiffness, dynamitic stiffness and moving stiffness of the PPM are analyzed according to the integrated stiffness model. Firstly, a dynamic model of flexible plane beam element is created as a basic unit for branches. Secondly, each branch is assembled in generalized coordinates, and the integrated stiffness model of the PPM is established. Then calculation and simulation for the static stiffness, dynamitic stiffness and moving stiffness are carried out. The results show that the static stiffness and dynamitic stiffness are related with the position and posture of the PPM. The moving stiffness shows that the elastic deformations cause the oscillation of the PPM. In this paper, three stiffness models are unified in the integrated stiffness model, which improves the efficiency of the stiffness calculation and mechanism design.
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