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-revolute-cylindrical (3-PRC) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano scale manipulation. A straightforward method is developed to establish the analytical stiffness model for a spatial CPM by considering the compliance of each compliant element, which is then applied to stiffness modeling of the 3-PRC CPM. Furthermore, the Unite element analysis is carried out to validate the developed model. And to demonstrate the utility of the stiffness model, the influence of architectural parameters on stiffness factors is analyzed, which is valuable for a cost-effective design of the CPM.
| Original language | English |
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| Title of host publication | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
| Pages | 300-305 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2006 |
| Externally published | Yes |
| Event | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 9 Oct 2006 → 15 Oct 2006 |
Conference
| Conference | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 |
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| Country/Territory | China |
| City | Beijing |
| Period | 9/10/06 → 15/10/06 |
Keywords
- Compilant mechanisms
- Parallel manipulators
- Stiffness
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications