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
SN - 0954-4062
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
ER -