A stiffness analysis for a hybrid parallel-serial manipulator

被引：43

作者：

Carbone, G ^{[1
]}

Ceccarelli, M ^{[1
]}

机构：

[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy

来源：

ROBOTICA | 2004年 / 22卷 / 05期

关键词：

stiffness analysis; hybrid manipulator; design parameters;

D O I：

10.1017/S0263574704000323

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper a hybrid parallel-serial manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics as a specific example of a general procedure for analyzing stiffness of parallel-serial manipulators. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness and design parameters of the mechanical design. A formulation is proposed for a stiffness performance index by using the obtained stiffness matrix. A numerical investigation has been carried out on the effects of design parameters and fundamental results are discussed in the paper.

引用

页码：567 / 576

页数：10

共 26 条

[1]

CARBONE G, 2003, THESIS U CASSINO CAS

[2] A new 3 DOF spatial parallel mechanism [J].

Ceccarelli, M .

MECHANISM AND MACHINE THEORY, 1997, 32 (08) :895-902

[3] A stiffness analysis for CaPaMan (CassinoParallel manipulator) [J].

Ceccarelli, M ;

Carbone, G .

MECHANISM AND MACHINE THEORY, 2002, 37 (05) :427-439

[4]

Ceccarelli M., 1997, Proceedings 3rd ACRA. 3rd Asian Conference on Robotics and its Applications, P301

[5]

CECCARELLI M, 2001, P 2 WORKSH COMP KIN, P145

[6] REAL-TIME MANIPULATION OF A HYBRID SERIAL-AND-PARALLEL-DRIVEN REDUNDANT INDUSTRIAL MANIPULATOR [J].

CHENG, HH .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1994, 116 (04) :687-701

[7]

Duffy J., 1996, STAT KINEMATICS APPL, P153

[8]

Gantmacher F. R., 1989, THEORY MATRICES, VI

[9]

GOSSELIN GM, 2002, INT J ROBOT AUTOM, V17, P17

[10]

HUANG MZ, 1994, IEEE INT CONF ROBOT, P2180, DOI 10.1109/ROBOT.1994.350961

← 1 2 3 →