Experimental verification of antagonistic stiffness planning for a 2-DOF planar parallel manipulator

被引：0
|
作者：
Lee, Sungcheul [2 ]
In, Woosung [2 ]
Kim, Sitai [3 ]
Jeong, Jay I. [1 ]
Kim, Jongwon [2 ]
机构：
[1] Kookmin Univ, 861-1 Jeongneung Dong, Seoul 136702, South Korea
[2] Seoul Natl Univ, Sch Mech & Aerosp Engn, Seoul 151744, South Korea
[3] Korea Air Force Acad, Dept Engn Mech, Chungbuk 36384, South Korea
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
MECHANISM;
D O I：
10.1109/IROS.2009.5354476
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, two torque assignment methods of the antagonistic stiffness for a 2-DOF planar parallel manipulator are presented and verified by experiments. The first method is equalizing the magnitude of the stiffness in all directions at a desired position. The second method is maximizing the active stiffness in one direction at a given path. A 2-DOF parallel mechanism with four actuators is used for verification tests, where the internal torque of the mechanism exists on the two dimensional null space. In the experiment, passive and active stiffness are tested when endowing the external force at the moving platform and compared with the estimated results.
引用
收藏
页码：291 / 296
页数：6
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