Name
Abstract | ||
|---|---|---|
This paper presents a method, called Parameter-Separation Method, for stiffness analysis of parallel mechanisms. By treating the effect of different parameters (i.e. external force and torque, translational and rotational displacement) separately, the method produces 4 criteria of stiffness analysis. A further method based on the first method is proposed when we conduct stiffness analysis on some parallel mechanisms whose inputs are of the same unit. It applies a special way to formulate dimensionally homogeneous Jacobian matrix with consideration of the input need, and comes up with 2 criteria to judge the stiffness of parallel mechanisms. These two methods are explained in detail, and their effects and relationship are demonstrated by stiffness analysis of a 4RRR redundantly actuated parallel mechanism. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/978-3-642-10817-4_56 | ICIRA |
Keywords | Field | DocType |
rotational displacement,parallel mechanisms,dimensionally homogeneous jacobian matrix,parameter-separation method,redundantly actuated parallel mechanism,external force,different parameter,parallel mechanism,input need,stiffness analysis,jacobian matrix | Angular displacement,Torque,Jacobian matrix and determinant,Control theory,Homogeneous,Stiffness,Tangent stiffness matrix,Direct stiffness method,Control engineering,Stiffness matrix,Mathematics | Conference |
Volume | ISSN | Citations |
5928 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 2 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Boqiang Xu | 1 | 1 | 0.68 |
| Tiemin Li | 2 | 45 | 7.58 |
| Jun Wu | 3 | 42 | 12.27 |