WORKSPACE AND STIFFNESS ANALYSIS OF A PLANAR STEEL-STRIP-DRIVEN PARALLEL MANIPULATOR

被引：0

作者：

Wang Dan ^{[1
]}

Fan Rui ^{[1
]}

Chen Wuyi ^{[1
]}

Liu Dawei ^{[1
]}

机构：

[1] Beihang Univ, Beijing 100191, Peoples R China

来源：

PROGRESS OF MACHINING TECHNOLOGY | 2012年

关键词：

planar steel-strip-driven parallel manipulator; feasible-wrench workspace; stiffness; cable-driven parallel manipulator; WRENCH-FEASIBLE WORKSPACE; MECHANISMS;

D O I：

暂无

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a kind of planar steel-strip-driven parallel manipulator is proposed. Kinematics and statics are studied to deduce the stiffness matrix. The feasible-wrench workspace (FWWS) is derived. Then, a combined stiffness index, including the maximum eigenstiffness, the minimum eigenstiffness and the condition number of the stiffness matrix, is used to evaluate the stiffness distribution. Finally, the workspace with stiffness limitation is obtained.

引用

页码：173 / 177

页数：5

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