Stiffness modeling of the Tricept robot using the overall jacobian matrix
Wang, Youyu, Liu, Haitao, Huang, T. 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. ISSN 19424302Full text not available from this repository.
Official URL: http://dx.doi.org/10.1115/1.3046131
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|
|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|
|Official Date:||May 2009|
|Access rights to Published version:||Restricted or Subscription Access|
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