Finite element analysis and comparison of two hybrid robots-the Tricept and the TriVariant

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 490-495

  Wang, Y Y ^a   Huang, T ^a   Zhao, X M ^a   Mei, J P ^a   Chetwynd, D G ^b   Hu, S J ^c  

^a TIANJIN UNIVERSITY   (China)

^b UNIVERSITY OF WARWICK   (United Kingdom)

^c UNIVERSITY OF MICHIGAN   (United States)

Author keywords

Finite element analysis; Parallel kinematic machines (PKMs); The TriVariant robot

Indexed keywords

COMPUTER PROGRAMMING LANGUAGES; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); FINITE ELEMENT METHOD; MOTION ESTIMATION; ROBOT PROGRAMMING;

DYNAMIC PERFORMANCES; GEOMETRICAL DIMENSIONS; PARALLEL KINEMATIC MACHINES (PKM); TRIVARIANT ROBOTS;

MOBILE ROBOTS;

EID: 34250625329     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282522     Document Type: Conference Paper

References (13)

1. M. Weck, D. Staimer, "Parallel kinematic machine tools-current states and future potentials," Ann. CIRP, vol. 51, no. 2, pp. 617-683, 2002.
2. K. E. Neumann, "Robot," U.S. Patent 4 732 525, Mar. 22, 1986.
3. Available at: http://www.smttricept.com.
4. T. Huang, M. Li, et al, "A 5-DOF hybrid robot," Int. Appl. PCT/CN2004/000479, May. 14, 2004.
5. T. Huang, M. Li, et al, "Conceptual design and dimensional synthesis for a 3-DOF module of the TriVariant - a novel 5-DOF reconfigurable hybrid robot," IEEE Trans. Rob., vol. 21, no. 3, pp. 449-456, 2005.
6. C. M. Gosselin, "Stiffness mapping for parallel manipulators," IEEE Trans. Rob., vol. 6, no. 3, pp. 377-382, 1990.
7. C. M. Clinton, "Stiffness modeling of a Stewart-platform- based milling machine," Trans. of NAMRI/SME, vol. 115, pp. 335-340, 1997.
8. B. S. EI-Khasawneh, P. M. Ferreira, "Computation of stiffness and stiffness bounds for parallel link manipulators," Int. J. of Machine Tools and Manufacture, vol. 39, pp. 321-342, 1999.
9. D. Zhang, C. M. Clinton, "Kinetostatic analysis and design optimization of the Tricept machine tool family," ASME J. Mech. Design, vol. 124, pp. 725-733, 2002.
10. Zhou L H, Huang T, et al, "Stiffness analysis of the main module for parallel machine tools by finite element analysis," Transactions of Tianjin University, 2001, 7(1): 30-35.
11. Y. W. Li, J. S. Wang, L. P. Wang, "Stiffness analysis of a Stewart platform-based parallel kinematic machine," IEEE Int. Conf. Rob., 2002, pp. 3672-3677.
12. T. Huang, X. Y. Zhao, D. J. Whitehouse, "Stiffness estimation of a Tripod-based parallel kinematic machine," IEEE Trans. Rob., vol 18, no. 1, pp. 50-58, 2002.
13. T. Huang, J. P. Mei, et al, "Stiffness estimation of a tripod-based parallel kinematic machine," IEEE Int. Conf. Rob., 2001, pp. 3280-3285.