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

Authors :: Guanglei Wu
Jørgen Asbøl Kepler
Shaoping Bai
Source :: Wu, G, Bai, S & Kepler, J A 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 .
Publication Year :: 2012
Publisher :: American Society of Mechanical Engineers, 2012.
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.Copyright © 2012 by ASME

Subjects :: Planar parallel manipulator
Engineering
business.industry
Stiffness
Structural engineering
Compliance (physiology)
Computer Science::Robotics
Nonlinear system
Planar
Stiffness matrix
Control theory
Actuation compliance
Elastic deformation
medicine
medicine.symptom
business
Representation (mathematics)

Language :: English
Database :: OpenAIRE
Journal :: Wu, G, Bai, S & Kepler, J A 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 .
Accession number :: edsair.doi.dedup.....20c3786708b729bc69ac9b60ca33b0b5

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