Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

Guanglei Wu; Shaoping Bai; Jørgen Asbøl Kepler

Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

Guanglei Wu, Shaoping Bai, Jørgen Asbøl Kepler

Solid and Computational Mechanics

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

3 Citationer (Scopus)

Abstract

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.

Originalsprog	Engelsk
Titel	Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012)
Antal sider	10
Vol/bind	3
Forlag	American Society of Mechanical Engineers
Publikationsdato	2012
ISBN (Trykt)	9780791844861
Status	Udgivet - 2012
Begivenhed	ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - Nantes International Convention Centre, Nantes, Frankrig Varighed: 2 jul. 2012 → 4 jul. 2012

Konference

Konference	ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
Lokation	Nantes International Convention Centre
Land/Område	Frankrig
By	Nantes
Periode	02/07/2012 → 04/07/2012

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Citationsformater

@inproceedings{e5a3c65b7ca84925af718f4076bc3e0a,

title = "Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance",

abstract = "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 anddiscussed. 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.",

keywords = "Planar parallel manipulator, Stiffness matrix, Elastic deformation, Actuation compliance",

author = "Guanglei Wu and Shaoping Bai and Kepler, {J{\o}rgen Asb{\o}l}",

year = "2012",

language = "English",

isbn = "9780791844861",

volume = "3",

booktitle = "Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012)",

publisher = "American Society of Mechanical Engineers",

address = "United States",

note = "ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2012 ; Conference date: 02-07-2012 Through 04-07-2012",

}

Wu, G, Bai, S & Kepler, JA 2012, Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance. i Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012). bind 3, American Society of Mechanical Engineers, ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Nantes, Frankrig, 02/07/2012.

Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance. / Wu, Guanglei; Bai, Shaoping ; Kepler, Jørgen Asbøl.
Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012). Bind 3 American Society of Mechanical Engineers, 2012.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

AU - Wu, Guanglei

AU - Bai, Shaoping

AU - Kepler, Jørgen Asbøl

PY - 2012

Y1 - 2012

N2 - 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 anddiscussed. 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.

AB - 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 anddiscussed. 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.

KW - Planar parallel manipulator

KW - Stiffness matrix

KW - Elastic deformation

KW - Actuation compliance

UR - http://www.scopus.com/inward/record.url?scp=84883884625&partnerID=8YFLogxK

M3 - Article in proceeding

SN - 9780791844861

VL - 3

BT - Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012)

PB - American Society of Mechanical Engineers

T2 - ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis

Y2 - 2 July 2012 through 4 July 2012

ER -

Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators with Actuation Compliance

Abstract

Konference

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