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Investigation of Wire Failure Effect on Stiffness Maps of Planar Wire-Actuated Parallel Manipulators

[+] Author Affiliations
Amir Moradi, Leila Notash

Queen’s University, Kingston, ON, Canada

Paper No. DETC2010-28374, pp. 253-260; 8 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


In the work presented, the complete form of stiffness of planar wire-actuated parallel manipulators is formulated. The differential form of the static force and moment equations is used to formulate the symmetric stiffness matrix of the manipulator. Stiffness maps over the workspace of manipulators about and along different directions are developed and the effect of wire failure on the stiffness maps is investigated. Some strategies for retrieving the lost stiffness after the wire failure are discussed. The effects of the presented strategies on stiffness maps over the workspace of example planar wire-actuated manipulators are presented.

Copyright © 2010 by ASME



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