Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance
Publikation: Forskning - peer review › Konferenceartikel i proceeding
In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and
discussed. Graphic representation of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart.
discussed. Graphic representation of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart.
| Originalsprog | Engelsk |
|---|---|
| Titel | Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012) |
| Antal sider | 10 |
| Vol/bind | 3 |
| Udgiver | American Society of Mechanical Engineers |
| Udgivelsesdato | 2012 |
| ISBN (trykt) | 9780791844861 |
| Status | Udgivet |
Konference
| Konference | ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis |
|---|---|
| Land | Frankrig |
| By | Nantes |
| Periode | 02-07-12 → 04-07-12 |
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