Stiffness analysis and optimization for a bio-inspired 3-DOF hybrid manipulator

Dan Zhang; Bin Wei

doi:10.1007/978-3-319-33581-0_26

Stiffness analysis and optimization for a bio-inspired 3-DOF hybrid manipulator

Dan Zhang, Bin Wei

Research output: Journal article publication › Journal article › Academic research › peer-review

1 Citation (Scopus)

Abstract

This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.

Original language	English
Pages (from-to)	341-350
Number of pages	10
Journal	Lecture Notes in Mechanical Engineering
DOIs	https://doi.org/10.1007/978-3-319-33581-0_26
Publication status	Published - 2017
Externally published	Yes

Keywords

Hybrid mechanism
Maximum stiffness
Minimum stiffness
Optimization

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

More information

10.1007/978-3-319-33581-0_26

Cite this

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title = "Stiffness analysis and optimization for a bio-inspired 3-DOF hybrid manipulator",

abstract = "This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.",

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author = "Dan Zhang and Bin Wei",

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AU - Wei, Bin

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N2 - This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.

AB - This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.

KW - Hybrid mechanism

KW - Maximum stiffness

KW - Minimum stiffness

KW - Optimization

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DO - 10.1007/978-3-319-33581-0_26

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ER -

Stiffness analysis and optimization for a bio-inspired 3-DOF hybrid manipulator

Abstract

Keywords

ASJC Scopus subject areas

More information

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