Wang, Youyu, Liu, Haitao, Huang, Tian and Chetwynd, D. G. (2009) Stiffness modeling of the Tricept robot using the overall jacobian matrix. Journal of Mechanisms and Robotics, Volume 1 (Number 2). 021002. doi:10.1115/1.3046131 ISSN 19424302.

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Abstract

Taking the 3DOF parallel mechanism within the Tricept robot as an example, this paper presents an analytical approach for the stiffness modeling of parallel kinematic machines having a properly constrained passive limb. The stiffness model is formulated using the 6×6 overall Jacobian. It takes particular interest in the precise formulation of the bending stiffness matrix of the properly constrained passive limb by considering the compatibility conditions of the system. Stiffness evaluation of a sample Tricept robot is carried out using two global indices obtained from singular value decomposition of the compliance matrix.

Item Type:	Journal Article
Subjects:	Q Science > QA Mathematics T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > Engineering
Library of Congress Subject Headings (LCSH):	Jacobians, Parallel kinematic machines -- Design and construction -- Mathematical methods, Manipulators (Mechanism), Decomposition method, Matrices
Journal or Publication Title:	Journal of Mechanisms and Robotics
Publisher:	American Society of Mechanical Engineers
ISSN:	19424302
Official Date:	May 2009
Dates:	Date Event May 2009 Published
Volume:	Volume 1
Number:	Number 2
Page Range:	021002
DOI:	10.1115/1.3046131
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access

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