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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

3 Citations (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.

Original language	English
Title of host publication	Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012)
Number of pages	10
Volume	3
Publisher	American Society of Mechanical Engineers
Publication date	2012
ISBN (Print)	9780791844861
Publication status	Published - 2012
Event	ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis - Nantes International Convention Centre, Nantes, France Duration: 2 Jul 2012 → 4 Jul 2012

Conference

Conference	ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
Location	Nantes International Convention Centre
Country/Territory	France
City	Nantes
Period	02/07/2012 → 04/07/2012

Keywords

Planar parallel manipulator
Stiffness matrix
Elastic deformation
Actuation compliance

AUB Link

Search for the material in Aalborg University Library's search engine

Cite this

@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. in Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA2012). vol. 3, American Society of Mechanical Engineers, ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, Nantes, France, 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). Vol. 3 American Society of Mechanical Engineers, 2012.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › 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

Conference

Keywords

AUB Link

Other files and links

Fingerprint

Cite this