제어로봇시스템학회:학술대회논문집
- 2005.06a
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- Pages.631-637
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- 2005
Stiffness Analysis of a Low-DOF Parallel Manipulator including the Elastic Deformations of Both Joints and Links (ICCAS 2005)
- Kim, Han-Sung (School of Mechanical and Automation Engineering, Kyungnam University) ;
- Shin, Chang-Rok (School of Mechanical and Automation Engineering, Kyungnam University) ;
- Kyung, Jin-Ho (jhkyung@kimm.re.kr) ;
- Ha, Young-Ho (Gyeongnam Regional Innovation Agency) ;
- Yu, Han-Sik (Executive Director, EM Korea Co., LTD) ;
- Shim, Poong-Soo (General Manager, R&D Support Center, World Industries Ace)
- Published : 2005.06.02
Abstract
This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The
Keywords
- stiffness analysis;
- low-DOF parallel manipulator;
- joint and link stiffness;
- reciprocal screw;
- statics relation