Comparative stiffness analysis of two over-constrained manipulators

Qiang Yan, Bin Li, Xinhua Zhao, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

This paper studies the comparative stiffness analysis of two over-constrained 2-RPU&SPR parallel mechanisms, these two 2-RPU&SPR parallel mechanisms are different in the joint distribution. Firstly, the kinematics of the two mechanisms are analyzed, the inverse and the forward positon problems of the two manipulators are obtained. Then, the dexterity analyses of the two mechanisms are carried out by the derivation of the close-loop positon equation. Thirdly, stiffness analyses of two over constrained structure are carried out by using principle of virtual work, and 6×6 full matrices for the two structures have been built. Finally, some examples and comparisons are enumerated to show the differences of the two mechanisms.
Original languageEnglish
Title of host publicationICARM 2016 - 2016 International Conference on Advanced Robotics and Mechatronics
PublisherIEEE
Pages225-230
Number of pages6
ISBN (Electronic)9781509033645
DOIs
Publication statusPublished - 21 Oct 2016
Externally publishedYes
Event2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 - Macau, China
Duration: 18 Aug 201620 Aug 2016

Conference

Conference2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016
CountryChina
CityMacau
Period18/08/1620/08/16

Keywords

  • jacobian matrix
  • Kinematics
  • singularity and dexterity
  • stiffness

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Control and Systems Engineering
  • Health(social science)
  • Control and Optimization

Cite this