A comparison study on the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart:

摘要

This study performed a comparison of the stiffness and natural frequency of a redundant parallel conveyor and its nonredundant counterpart. A 3-degree-of-freedom parallel conveyor that is used for the pretreatment and electrocoating of car bodies is simplified into a planar redundant parallel manipulator to derive the kinematic and dynamic models using a symmetrical architecture. The stiffness model is derived with a matrix structural method, and the dynamic model is obtained. The position and orientation workspace is analyzed, and the conditioning performances of the redundant manipulator and the nonredundant counterpart are assessed. Next, we contrast the stiffness and natural frequency of the redundant parallel manipulator with its nonredundant counterpart. The simulation results indicate that the redundant parallel manipulator has a greater stiffness and a higher natural frequency in the workspace. The redundant parallel manipulator is a preferred choice for developing this parallel conveyor.