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Stiffness Analysis of a Tripod With a Passive Link

[+] Author Affiliations
Z. M. Bi, S. Y. T. Lang

National Research Council of Canada

D. Zhang

University of Ontario Institute of Technology

Paper No. IMECE2005-81749, pp. 1665-1671; 7 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by National Research Council of Canada


The system stiffness of a tripod parallel kinematic mechanism (PKM) with 3-DOF is investigated in this paper. The tripod PKM has rotations of a motion platform about the x and y axes and translation along the z axis. The motion on the other axes is constrained by a passive link. The stiffness model considers the compliances of three main components: the fixed-length links, the passive link, and the linear actuators. The modeling procedure for the kinetostatic stiffness model is introduced. A case study is provided to demonstrate evaluation of the stiffness of our prototype tripod machine. The developed model differs from the others in the sense that the stiffness on the motion axes is determined by both the active links and the passive link; but the stiffness on the constrained motion axes depends merely on the passive link.

Copyright © 2005 by National Research Council of Canada
Topics: Stiffness



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