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Stiffness Analysis of a Low-DOF Planar Parallel Manipulator  

Kim, Han-Sung (Department of Mechanical and Automation Engineering, Kyungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.26, no.8, 2009 , pp. 79-88 More about this Journal
Abstract
This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.
Keywords
Low-DOF Planar Parallel Manipulator; Theory of Reciprocal Screws; Analytical Stiffness Analysis; Reciprocal Screws of Actuations and Constratins; Joint and Link Compliances; ADAMS;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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