Abstract
The stiffness modeling for a compliant parallel manipulator (CPM) is very important since it provides a basis for the characterization of static, modal, and dynamic behavior of the CPM. This paper presents the stiffness modeling of a three-prismatic-universal-universal (3-PUU) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano-scale manipulation. Considering the compliance of each compliant element, the analytical stiffness model for a spatial CPM is established by a straightforward approach, which is then applied to stiffness modeling of the 3-PUU CPM. In addition, the finite element analysis is carried out to validate the developed model, and as a further application, the influence of architectural parameters on stiffness factors are derived based on the stiffness model, which is valuable for a cost-effective design of the CPM.
| Original language | English |
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| Title of host publication | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 |
| Pages | 124-129 |
| Number of pages | 6 |
| Volume | 2006 |
| DOIs | |
| Publication status | Published - 1 Dec 2006 |
| Externally published | Yes |
| Event | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 - Luoyang, China Duration: 25 Jun 2006 → 28 Jun 2006 |
Conference
| Conference | 2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006 |
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| Country/Territory | China |
| City | Luoyang |
| Period | 25/06/06 → 28/06/06 |
Keywords
- Compliant mechanisms
- Parallel manipulators
- Stiffness
ASJC Scopus subject areas
- Artificial Intelligence
- Software
- Mechanical Engineering
- Control and Systems Engineering