| Citation: | AI Qinglin, HUANG Weifeng, ZHANG Hongtao, ZHANG Libin. Review of stiffness and statics analysis ofparallel robot[J]. Advances in Mechanics, 2012, 42(5): 583-592. doi: 10.6052/1000-0992-11-073
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It is of much significance to analyze the stiffness and statics of parallel robots for the study ontheir mechanical properties. The development of stiffness and static analysis of parallel robots in domestic andforeign countries were illustrated in detail via three kinds of structures, i.e. rod-support, wire-driven and steelband driven parallel robots. The progress in stiffness analysis of rod-support parallel mechanism was presentedin terms of three different methods: finite element, analytical modeling and performance analysis. The resultsof the relation between wire tension, frequency of dynamic loads, wire pre-tightening force and the stiffnessand statics of wire-driven parallel mechanism were discussed. According to the specific structure of steel banddriven parallel robots, the problems about instablity and vibration were discussed which may be encountered inanalyzing the stiffness and statics of steel band parallel mechanism. Finally, the development of parallel robotswas summarized, and the prospect was predicted that the mechanics theory of parallel robots will becomeincreasingly matured and perfect, while the stiffness and statics analysis will witness in-depth development.The mechanics theory will provide systematic theoretical basis for the optimization design of parallel robotmechanism.
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