Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Stiffness Analysis of Planar Parallel Manipulators with Serially Connected Legs

직렬체인 다리를 갖는 평면 병렬형 기구의 강성해석

  • Kim, Han Sung (School of Mechanical Engineering, Kyungnam University)
  • Received : 2014.01.14
  • Accepted : 2014.03.09
  • Published : 2014.04.15
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Abstract

This paper presents a method for analyzing the stiffness of full and low DOF (degree of freedom) planar parallel manipulators with serially connected legs. The individual stiffness of each leg is obtained by applying reciprocal screws to the leg twist using passive joints and elastic elements consisting of actuators and links. Because the legs are connected in parallel, the manipulator stiffness is determined by summing the individual leg stiffness values. This method does not require the assumption that springs should be located along reciprocal screws and is applicable to a planar parallel manipulator with a generic or singular configuration. The stiffness values of three planar parallel manipulators with different DOFs are analyzed. The numerical results are confirmed using ADAMS S/W.

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References

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