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

Guanglei Wu; Shaoping Bai; Jørgen Asbøl Kepler

doi:10.1177/0954406214557341

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

Guanglei Wu, Shaoping Bai, Jørgen Asbøl Kepler

Solid and Computational Mechanics

Research output: Contribution to journal › Journal article › Research › peer-review

10 Citations (Scopus)

Abstract

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 is
investigated, and the established stiffness model is experimentally verified.

Original language	English
Journal	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Volume	229
Pages (from-to)	2291-2302
Number of pages	12
ISSN	0954-4062
DOIs	https://doi.org/10.1177/0954406214557341
Publication status	Published - 2015

Keywords

Planar parallel manipulators
actuation compliance
eigenscrew decomposition
eigenforce
stiffness decoupling

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title = "Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance",

abstract = "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.",

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Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance. / Wu, Guanglei; Bai, Shaoping ; Kepler, Jørgen Asbøl.
In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. 229, 2015, p. 2291-2302.

Research output: Contribution to journal › Journal article › Research › peer-review

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

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DO - 10.1177/0954406214557341

M3 - Journal article

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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 -

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

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