Compliance analysis and lightweight design of a two-degree-of-freedom rotating head
| Autor: | Manxin Wang, Haitao Liu, Hutian Feng |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | Advances in Mechanical Engineering, Vol 11 (2019) |
| Druh dokumentu: | article |
| ISSN: | 1687-8140 16878140 |
| DOI: | 10.1177/1687814019835734 |
| Popis: | This article presents an approach for the compliance analysis and lightweight design of a two-degree-of-freedom rotating head by considering both gravity and joint/link compliances, which provides a comprehensive understanding on the posture adjustment mechanism of five-degree-of-freedom hybrid manipulator. A kinetostatic analysis is carried out to consider both externally applied wrench imposed upon the end-effector and gravity of all movable components. Then, a deflection analysis integrating both joint and link compliances and formulation of component compliance matrices are completed by using a semi-analytical approach. Finally, the lightweight design of two-degree-of-freedom rotating head is realized by considering the deflection constraints. This approach enables to effectively evaluate the deflections of end-effector caused by both payload and gravity under given operation conditions. Moreover, the established method provides reliable guidelines for the design of two-degree-of-freedom rotating head with superior static rigidities and dynamic behaviors. |
| Databáze: | Directory of Open Access Journals |
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