Stiffness modeling of a spatial 3-DOF compliant parallel micromanipulator

被引：3
|
作者：
Xu, Qingsong [1 ]
Li, Yangmin [1 ]
机构：
[1] Univ Macau, Fac Sci & Technol, Dept Electromech Engn, Av Padre Tomas Pereira SJ, Macau, Peoples R China
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
compliant mechanisms; parallel manipulators; stiffness;
D O I：
10.1109/IROS.2006.282249
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The stiffness modeling for a compliant parallel manipulator (CPM) is very important since it provides a basis for the characterization of static, modal, and dynamic behavior of the CPM. This paper presents the stiffness modeling of a three-prismatic-revolute-cylindrical (3-PRC) CPM with orthogonally mounted actuators, that is designed to provide three spatial translational DOF for nano scale manipulation. A straightforward method is developed to establish the analytical stiffness model for a spatial CPM by considering the compliance of each compliant element, which is then applied to stiffness modeling of the 3-PRC CPM. Furthermore, the finite element analysis is carried out to validate the developed model. And to demonstrate the utility of the stiffness model, the influence of architectural parameters on stiffness factors is analyzed, which is valuable for a cost-effective design of the CPM.
引用
收藏
页码：300 / +
页数：2
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