Paper Info
Title
Stiffness estimation of a tripod-based parallel kinematic machine
Abstract
Presents a simple yet comprehensive approach that enables the stiffness of a tripod-based parallel kinematic machine to be quickly estimated. The approach arises from the basic idea for the determination of the equivalent stiffness of a group of serially connected linear springs and can be implemented in two steps. In the first step, the machine structure is decomposed into two substructures associated with the machine frame and parallel mechanism. The stiffness models of these two substructures are formulated by means of the virtual work principle. This is followed by the second step that enables the stiffness model of the machine structure as a whole to be achieved via linear superposition. The three-dimensional representations of the machine stiffness within the usable workspace are depicted and the contributions of different component rigidities to the machine stiffness are discussed. The results are compared with those obtained through experiments
Year
DOI
Venue
2002
10.1109/70.988974
IEEE T. Robotics and Automation
Keywords
Field
DocType
tripod-based parallel kinematic machine,stiffness estimation,matrix algebra,equivalent stiffness,stiffness,serially connected linear springs,manipulator kinematics,parallel kinematic machines,geometry,finite element analysis,machine tools,mathematical model,tripod,kinematics,finite element methods,simulation,inverse kinematics,linear superposition,mechanical engineering,application software,impedance
Kinematics,Workspace,Stiffness,Direct stiffness method,Finite element method,Control engineering,Virtual work,Tripod (photography),Mathematics,Machine tool
Journal
Volume
Issue
ISSN
18
1
1042-296X
Citations 
PageRank 
References 
27
2.87
8
Authors
7
Name
Order
Citations
PageRank
tsunghui huang1272.87
m p mei2395.05
x y zhao3467.78
ling hui zhou4272.87
da wei zhang5272.87
z p zeng6272.87
d j whitehouse7272.87