Stiffness Analysis of a Planar 3-RPS Parallel Manipulator

被引：6
|
作者：
Hu, Bo [1 ,2 ]
Song, Chunxiao [1 ,2 ]
Li, Bo [1 ,2 ]
机构：
[1] Yanshan Univ, Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao 066004, Hebei, Peoples R China
[2] Yanshan Univ, Minist Natl Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao 066004, Hebei, Peoples R China
来源：
MECHATRONICS AND ROBOTICS ENGINEERING FOR ADVANCED AND INTELLIGENT MANUFACTURING | 2017年
关键词：
Planar parallel manipulator; Stiffness; Eigenscrew decomposition; Principle axes decomposition; Compliant aixs; ROBOT COMPLIANCE; MATRICES; DECOMPOSITION;
D O I：
10.1007/978-3-319-33581-0_2
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 x 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM.
引用
收藏
页码：13 / 28
页数：16
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