Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/59306 |
| _version_ | 1818539059060932608 |
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| author | Guang Yu Jun Wu Liping Wang |
| author_facet | Guang Yu Jun Wu Liping Wang |
| author_sort | Guang Yu |
| collection | DOAJ |
| description | This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the manipulator with zero/one additional legs. Two performance indices are given to compare the stiffness of the parallel manipulators with two additional legs with those of the manipulators with zero/one additional legs. The method not only can be used to derive the stiffness model of a redundant parallel manipulator, but also to model the stiffness of non-redundant parallel manipulators. |
| first_indexed | 2024-12-11T21:37:03Z |
| format | Article |
| id | doaj.art-d5d61ca4b8e342fdb2f51aaa19de83c7 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-11T21:37:03Z |
| publishDate | 2014-10-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-d5d61ca4b8e342fdb2f51aaa19de83c72022-12-22T00:49:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-10-011110.5772/5930610.5772_59306Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional LegsGuang Yu0Jun Wu1Liping Wang2 Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, ChinaThis paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the manipulator with zero/one additional legs. Two performance indices are given to compare the stiffness of the parallel manipulators with two additional legs with those of the manipulators with zero/one additional legs. The method not only can be used to derive the stiffness model of a redundant parallel manipulator, but also to model the stiffness of non-redundant parallel manipulators.https://doi.org/10.5772/59306 |
| spellingShingle | Guang Yu Jun Wu Liping Wang Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs International Journal of Advanced Robotic Systems |
| title | Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs |
| title_full | Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs |
| title_fullStr | Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs |
| title_full_unstemmed | Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs |
| title_short | Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs |
| title_sort | stiffness model of a 3 dof parallel manipulator with two additional legs |
| url | https://doi.org/10.5772/59306 |
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