Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs. (23rd October 2014)

• Record Type: Journal Article
• Authors: Yu, Guang; Wu, Jun; Wang, Liping
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 10(2014)
• Publication Date: 2014-10-23
• Subjects: Stiffness -- Actuation Redundancy -- Parallel Manipulator -- Comparison Study; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/59306
• Languages: English
• ISSNs: 1729-8806

Abstract

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.