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http://dx.doi.org/10.7736/KSPE.2012.29.9.971

Theoretical Analyses on Actuator Stiffness and Structural Stiffness of Non-redundant and Redundant Symmetric 5R Parallel Mechanisms  

Jin, Sang-Rok (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Kim, Jong-Won (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
Seo, Tae-Won (School of Mechanical Engineering, Yeungnam Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.29, no.9, 2012 , pp. 971-977 More about this Journal
Abstract
Redundant actuated parallel kinematic machines (PKMs) have been widely researched to increase stiffness of PKMs. This paper presents theoretical analyses on the stiffness of non-redundant and redundant actuated PKM. Stiffness of each mechanism is defined by summation of actuator and structural stiffness; the actuator stiffness is determined from displacements of actuators, and the structural stiffness is determined from deformations of links by external forces. Calculated actuator and structural stiffness of non-redundant PKM show same distribution in entire workspace. On the contrary, the actuator and the structural stiffness of a redundant PKM has very different distribution in the workspace; so, we conclude the structural stiffness of redundant PKM should be considered to design the redundant PKM. The results can be used to design and analyze non-redundant and redundant PKMs.
Keywords
Parallel Mechanism; Redundant Actuation; Stiffness Analysis; Structural Stiffness; 5R Link;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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