Experimental Validation of Jacobian-Based Stiffness Analysis Method for Parallel Manipulators With Nonredundant Legs

被引：15

作者：

Hoevenaars, Antonius G. L. ^{[1
]}

Gosselin, Clement ^{[2
]}

Lambert, Patrice ^{[1
]}

Herder, Just L. ^{[1
]}

机构：

[1] Delft Univ Technol, Dept Precis & Microsyst Engn, Mekelweg 2, NL-2628 CD Delft, Netherlands

[2] Univ Laval, Dept Mech Engn, 1065 Ave Med, Quebec City, PQ G1V 0A6, Canada

来源：

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME | 2016年 / 8卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

DESIGN;

D O I：

10.1115/1.4032204

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.

引用

页数：10

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