TY - GEN
T1 - Stiffness control for a 3-dof parallel robot based machine tools
AU - Zhang, Dan
AU - Patel, Shafiq
AU - Gao, Zhen
AU - Ge, Yunjian
PY - 2008
Y1 - 2008
N2 - In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulator's functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on improving the stiffness of the clamp plates previously installed on the Parawrist robot to counteract the out of plane movement of its legs when performing mold polishing operations. Finite Element Analysis is utilized as the tool to produce the results and obtain optimization design for the constant stiffness mechanism. The overall structure of the manipulator is also improved, and improvement techniques are established.
AB - In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulator's functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on improving the stiffness of the clamp plates previously installed on the Parawrist robot to counteract the out of plane movement of its legs when performing mold polishing operations. Finite Element Analysis is utilized as the tool to produce the results and obtain optimization design for the constant stiffness mechanism. The overall structure of the manipulator is also improved, and improvement techniques are established.
KW - Constant stiffness mechanism
KW - Design optimization
KW - Finite Element Analysis
KW - Parawrist parallel robot
UR - http://www.scopus.com/inward/record.url?scp=54249121685&partnerID=8YFLogxK
U2 - 10.1109/ICINFA.2008.4608160
DO - 10.1109/ICINFA.2008.4608160
M3 - Conference article published in proceeding or book
AN - SCOPUS:54249121685
SN - 9781424421848
T3 - Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008
SP - 1085
EP - 1090
BT - Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA 2008
T2 - 2008 IEEE International Conference on Information and Automation, ICIA 2008
Y2 - 20 June 2008 through 23 June 2008
ER -