Stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates

被引：93

作者：

Wu, Jun ^{[1
]}

Li, Tiemin

Wang, Jinsong

Wang, Liping

机构：

[1] Tsinghua Univ, Dept Mech Engn, State Key Lab Tribol, Beijing 100084, Peoples R China

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Stiffness; Natural frequency; Actuation redundancy; Parallel manipulator; Comparison study; ACTUATION REDUNDANCY; OPTIMAL-DESIGN; 5-BAR FINGER; DYNAMICS;

D O I：

10.1016/j.robot.2013.03.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the stiffness and natural frequency of a 3-DOF parallel manipulator with consideration of additional leg candidates. The stiffness model and natural frequency are derived, and then the stiffness and natural frequency of the manipulators are compared. The simulations show that the stiffness and natural frequency of the parallel manipulator with one or two additional legs are higher than those of the manipulator without additional leg. The stiffness performance and natural frequency of the manipulator with one additional leg can only be improved little by adding the second additional leg. It is better to develop this parallel manipulator by adding only one additional leg to construct a symmetrical architecture. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：868 / 875

页数：8

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