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Date of Publication:2020-01-01

Journal:Zhongguo Jixie Gongcheng/China Mechanical Engineering

Volume:31

Issue:17

Page Number:2050-2058

ISSN No.:1004-132X

Abstract:Stiffness and performance of Delta-CU were studied herein. Compliance model of limb was established by using virtual spring method, and the static equations of the limb were given. Kinematic differential mapping was obtained by the screw theory, and the Cartesian stiffness matrix of the mechanisms was obtained by making use of the static equations. Finite element analyses showed that the matrix is applicable in the stiffncss analysis. Finally, based on the defined virtual work stiffness index, the Delta-CU mechanism under given parameters was analyzed and compared with the Delta mechanisms, which shows that the Delta-CU mechanism has the same translational stiffness with the conventional Delta mechanisms. © 2020, China Mechanical Engineering Magazine Office. All right reserved.

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