REVIEW OF STIFFNESS AND STATICS ANALYSIS OF PARALLEL ROBOT

It is of much significance to analyze the stiffness and statics of parallel robots for the study on their mechanical properties. The development of stiffness and static analysis of parallel robots in domestic and foreign countries were illustrated in detail via three kinds of structures, i.e. rod-support, wire-driven and steel band driven parallel robots. The progress in stiffness analysis of rod-support parallel mechanism was presented in terms of three different methods: finite element, analytical modeling and performance analysis. The results of the relation between wire tension, frequency of dynamic loads, wire pre-tightening force and the stiffness and statics of wire-driven parallel mechanism were discussed. According to the specific structure of steel band driven parallel robots, the problems about instablity and vibration were discussed which may be encountered in analyzing the stiffness and statics of steel band parallel mechanism. Finally, the development of parallel robots was summarized, and the prospect was predicted that the mechanics theory of parallel robots will become increasingly 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 robot mechanism.