Browse > Article

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)
연도 인용수 순위
1 Kim, H. S., "Stiffness Modeling of a Low-DOF Parallel Robot," J. of CASE, Vol. 13, No. 4, pp. 320-328, 2007   과학기술학회마을   DOI
2 Joshi, S. and Tsai, L. W., "Jacobian Analysis of Limited-DOF Parallel Manipulators," J. of Mechanical Design, Vol. 124, No. 2, pp. 254-258, 2002   DOI   ScienceOn
3 Kim, H. S., "Development of Two Types of Novel Planar Translational Parallel Manipulators by Using Parallelogram Mechanism," J. of the KSPE, Vol. 24, No. 8, pp. 50-57, 2007   과학기술학회마을
4 Yoon, W. K., Suehiro, T. and Tsumaki, Y., "Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism," Robotica, Vol. 22, No. 4, pp. 463-475, 2004   DOI   ScienceOn
5 Zhang, D. and Gosselin, C. M., "Kinetostatic Modeling of N-DOF Parallel Mechanisms with a Passive Constraining Leg and Prismatic Actuators," ASME J. of Mechanical Design, Vol. 123, pp. 375-381, 2001   DOI   ScienceOn
6 Duffy, J., "Statics and Kinematics with applications to Robotics," Cambridge University Press, pp. 89-156, 1996
7 Tsai, L. W., "Robot Analysis: The Mechanics of Serial and Parallel Manipulators," John Wiley & Sons, pp. 118-279, 1999
8 Lipkin, H. and Duffy, J., "The elliptic polarity of screws," ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 107, No. 3, pp. 377-387, 1985   DOI
9 Gough, V. E. and Whitehall, S. G., "Universal Tire Test Machine," Proceedings 9th Int. Technical Congress, Vol. 117, pp. 117-135, 1962
10 Griffis, M. and Duffy, J., "Global Stiffness Modeling of a Class of Simple Compliant Couplings," Mechanism and Machine Theory, Vol. 28, No. 2, pp. 207-224, 1993   DOI   ScienceOn