TY - JOUR

T1 - Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance

AU - Wu, Guanglei

AU - Bai, Shaoping

AU - Kepler, Jørgen Asbøl

PY - 2015

Y1 - 2015

N2 - This paper investigates the stiffness of a compliant planar parallel manipulator. Instead of establishing stiffness matrix directly for planar mechanisms, we adopt the modeling approach for spatial mechanisms, which allows us to derive two decoupled homogeneous matrices, corresponding to the translational and rotational stiffness. This is achieved by resorting to the generalized eigenvalue problem, through which the eigenscrew decomposition is implemented to yield six screw springs. The principal stiffnesses and their directions are then identified from the eigenvalue problem of the two separated submatrices. In addition, the influence of the nonlinear actuation compliance to the manipulator stiffness isinvestigated, and the established stiffness model is experimentally verified.

AB - This paper investigates the stiffness of a compliant planar parallel manipulator. Instead of establishing stiffness matrix directly for planar mechanisms, we adopt the modeling approach for spatial mechanisms, which allows us to derive two decoupled homogeneous matrices, corresponding to the translational and rotational stiffness. This is achieved by resorting to the generalized eigenvalue problem, through which the eigenscrew decomposition is implemented to yield six screw springs. The principal stiffnesses and their directions are then identified from the eigenvalue problem of the two separated submatrices. In addition, the influence of the nonlinear actuation compliance to the manipulator stiffness isinvestigated, and the established stiffness model is experimentally verified.

KW - Planar parallel manipulators

KW - actuation compliance

KW - eigenscrew decomposition

KW - eigenforce

KW - stiffness decoupling

U2 - 10.1177/0954406214557341

DO - 10.1177/0954406214557341

M3 - Journal article

VL - 229

SP - 2291

EP - 2302

JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

SN - 0954-4062

ER -