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Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators With Actuation Compliance

[+] Author Affiliations
Guanglei Wu, Shaoping Bai, Jørgen A. Kepler

Aalborg University, Aalborg East, Denmark

Paper No. ESDA2012-82363, pp. 255-264; 10 pages
doi:10.1115/ESDA2012-82363
From:
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4486-1
  • Copyright © 2012 by ASME

abstract

In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and discussed. Graphic representation of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart.

Copyright © 2012 by ASME

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