TY - GEN
T1 - Comparison and verification of several stiffness models for a family of parallel manipulators
AU - Zhang, Dan
AU - Wei, Bin
N1 - Publisher Copyright:
© 2014, Avestia Publishing.
PY - 2014
Y1 - 2014
N2 - This paper investigates the difference between several stiffness models for a family of parallel manipulators that has n-DOF with an n-DOF central passive leg and n identical actuated legs. For demonstration purpose, the 3UPS-PU parallel manipulator is employed as an example. The Jacobian matrix of the mechanism is first analysed for the purpose of subsequent analysis; then the traditional stiffness matrix of the mechanism is derived based on calculation of the Jacobian matrix. Thirdly, based on the kinetostatic and the principle of virtual work, one derives the kinetostatic compliance matrix of the 3UPS-PU mechanism by considering the central passive limb as rigid. Furthermore, the dexterous stiffness model is proposed to evaluate the transferring ability of the manipulator. Through comparison among compliance in each direction under different stiffness models, it comes to the fact that the kinetostatic compliance model is the closest one to the traditional stiffness model, which verifies the accuracy of the kinetostatic stiffness/compliance model.
AB - This paper investigates the difference between several stiffness models for a family of parallel manipulators that has n-DOF with an n-DOF central passive leg and n identical actuated legs. For demonstration purpose, the 3UPS-PU parallel manipulator is employed as an example. The Jacobian matrix of the mechanism is first analysed for the purpose of subsequent analysis; then the traditional stiffness matrix of the mechanism is derived based on calculation of the Jacobian matrix. Thirdly, based on the kinetostatic and the principle of virtual work, one derives the kinetostatic compliance matrix of the 3UPS-PU mechanism by considering the central passive limb as rigid. Furthermore, the dexterous stiffness model is proposed to evaluate the transferring ability of the manipulator. Through comparison among compliance in each direction under different stiffness models, it comes to the fact that the kinetostatic compliance model is the closest one to the traditional stiffness model, which verifies the accuracy of the kinetostatic stiffness/compliance model.
KW - Dexterous stiffness model
KW - Kinetostatic stiffness model
KW - Parallel manipulator
KW - Stiffness comparison
KW - Traditional stiffness model
UR - http://www.scopus.com/inward/record.url?scp=85043532125&partnerID=8YFLogxK
M3 - Conference article published in proceeding or book
AN - SCOPUS:85043532125
SN - 9781927877029
T3 - International Conference of Control, Dynamic Systems, and Robotics
BT - The International Conference of Control, Dynamic Systems, and Robotics, CDSR 2014
PB - Avestia Publishing
T2 - The International Conference of Control, Dynamic Systems, and Robotics, CDSR 2014
Y2 - 15 May 2017 through 16 May 2017
ER -