Abstract
This paper presents a method, called Parameter-Separation Method, for stiffness analysis of parallel mechanisms. By treating the effect of different parameters (i.e. external force and torque, translational and rotational displacement) separately, the method produces 4 criteria of stiffness analysis. A further method based on the first method is proposed when we conduct stiffness analysis on some parallel mechanisms whose inputs are of the same unit. It applies a special way to formulate dimensionally homogeneous Jacobian matrix with consideration of the input need, and comes up with 2 criteria to judge the stiffness of parallel mechanisms. These two methods are explained in detail, and their effects and relationship are demonstrated by stiffness analysis of a 4RRR redundantly actuated parallel mechanism.
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Xu, B., Li, T., Wu, J. (2009). A Method of Stiffness Analysis of Parallel Mechanisms. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_56
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DOI: https://doi.org/10.1007/978-3-642-10817-4_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
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