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An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory
Xu Q.; Li Y.
2008
Source PublicationRobotics and Computer-Integrated Manufacturing
ISSN7365845
Volume24Issue:3Pages:402
Abstract

This paper analyzes the mobility and stiffness of a three-prismatic-revolute-cylindrical (3-PRC) translational parallel manipulator (TPM). Firstly, the original 3-PRC TPM is converted into a non-overconstrained manipulator since there exist some practical problems for the overconstrained mechanism. By resorting to the screw theory, it is demonstrated that the conversion brings no influences to the mobility and kinematics of the manipulator. Secondly, the stiffness matrix is derived intuitively via an alternative approach based upon screw theory with the consideration of actuations and constraints, and the compliances subject to both actuators and legs are taken into account to establish the stiffness model. Furthermore, the stiffness performance of the manipulator is evaluated by utilizing the extremum stiffness values over the usable workspace, and the influences of design parameters on stiffness properties are presented, which will be helpful for the architecture design of the TPM. © 2007 Elsevier Ltd. All rights reserved.

KeywordAnalysis Mechanism Design Mobility Parallel Manipulators Screw Theory Stiffness
DOI10.1016/j.rcim.2007.02.022
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering ; Robotics
WOS SubjectComputer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS IDWOS:000254770200010
The Source to ArticleScopus
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Cited Times [WOS]:54   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tomás Pereira S.J., Taipa, Macao SAR, PR China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xu Q.,Li Y.. An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory[J]. Robotics and Computer-Integrated Manufacturing,2008,24(3):402.
APA Xu Q.,&Li Y..(2008).An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory.Robotics and Computer-Integrated Manufacturing,24(3),402.
MLA Xu Q.,et al."An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory".Robotics and Computer-Integrated Manufacturing 24.3(2008):402.
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