Aiming at the problem that the large weight of the construction robot cannot be ignored in the process of stiffness modeling, this paper proposes a stiffness modeling method of non-rotational drive joint redundant degree of freedom manipulator considering gravity. Firstly, the structural characteristics of the redundant degree of freedom manipulator are introduced, and the inverse kinematics is solved by using the self-motion characteristics of the redundant degree of freedom manipulator. Then, the force and deformation analysis of the parallelogram mechanism is carried out by using the equivalent principle of the force system and the translation theorem of the force, and the stiffness modeling is carried out based on the principle of virtual work. Finally, considering the gravity factor, the overall force and deformation analysis of the manipulator is completed, and the comprehensive stiffness model of the manipulator is established. The stiffness is analyzed according to the self-motion characteristics of the manipulator. The results show that under the influence of gravity and external force, the stiffness difference of the manipulator with different redundant angles at the same position can reach 240 %, and the proportion of gravity factor in deformation can reach 72 %. The research in this paper reveals the significant differences in the stiffness of the manipulator under different redundant angles. The established stiffness model is more in line with the actual situation and lays a foundation for further optimization research.
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Yang et al. (2024) studied this question.
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