Cartesian Stiffness Matrix Mapping of a Translational Parallel Mechanism with Elastic Joints
نویسنده
چکیده
This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimensional indices are proposed to measure the response of the manipulator in terms of stiffness.
منابع مشابه
Enhanced stiffness modeling of manipulators with passive joints
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a rel...
متن کاملThe Performance of an Hexahedron C* Element in Finite Element Analysis
The performance of an 8-noded hexahedron C1* element in elasticity is investigated. Three translational displacements and their derivatives as strain in each direction are considered as degrees of freedom (d.o.f.’s) at each node. The geometric mapping is enforced using a C0 element with no derivative as nodal d.o.f.’s . The stiffness matrix of the element is also computed using a transformation...
متن کاملKinematic Mapping and Forward Kinematic Problem of a 5-DOF (3T2R) Parallel Mechanism with Identical Limb Structures
The main objective of this paper is to study the Euclidean displacement of a 5-DOF parallel mechanism performing three translation and two independent rotations with identical limb structures-recently revealed by performing the type synthesis-in a higher dimensional projective space, rather than relying on classical recipes, such as Cartesian coordinates and Euler angles. In this paper, Study's...
متن کاملA General Formulation for the Stiffness Matrix of Parallel Mechanisms
Starting from the definition of a stiffness matrix, the authors present a new formulation of the Cartesian stiffness matrix of parallel mechanisms. The proposed formulation is more general than any other stiffness matrix found in the literature since it can take into account the stiffness of the passive joints, it can consider additional compliances in the joints or in the links and it remains ...
متن کاملHybrid Connections of Simple Compliances
Achieving adequate force control is an important problem in the application of robotics technology to manufacturing tasks. This is particularly true for assembly tasks that require constrained interaction between a robotic manipulator and a workpart. One approach to this problem is the use of passive compliance. A number of methods have been proposed for designing a passive compliance mechanism...
متن کامل