Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs | Zendy

Guang Yu | Zendy; Jun Wu | Zendy; Liping Wang | Zendy

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Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs

Author(s) -

Guang Yu,

Jun Wu,

Liping Wang

Publication year - 2014

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/59306

Subject(s) - parallel manipulator , stiffness , computer science , manipulator (device) , control theory (sociology) , connection (principal bundle) , joint (building) , structural engineering , robot , control (management) , artificial intelligence , engineering

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

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