Stiffness mapping of compliant parallel mechanisms in a serial arrangement

Mechanism and Machine Theory

Volumn 43, Issue 3, 2008, Pages 271-284

  Jung, Hyun K ^a   Crane III, Carl D ^a   Roberts, Rodney G ^b  

^a J Crayton Pruitt Family Department of Biomedical Engineering   (United States)

^b FLORIDA STATE UNIVERSITY   (United States)

Author keywords

Compliance; Parallel mechanisms; Stiffness

Indexed keywords

MOTION CONTROL; NUMERICAL METHODS; STIFFNESS MATRIX;

PARALLEL MECHANISMS; STIFFNESS MAPPING;

PARALLEL PROCESSING SYSTEMS;

EID: 38549110249     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2007.04.006     Document Type: Article

References (12)

1. Whitney D.E. Quasi-static assembly of compliantly supported rigid parts. ASME Journal of Dynamic Systems, Measurement, and Control 104 (1982) 65-77
2. Peshkin M. Programmed compliance for error corrective assembly. IEEE Transactions on Robotics and Automation 6 4 (1990) 473-482
3. M. Griffis, A novel theory for simultaneously regulating force and displacement, Ph.D. dissertation, University of Florida, Gainesville, 1991.
4. Ball R.S. A Treatise on the Theory of Screws (1900), Cambridge University Press, London
5. Crane C.D., Rico J.M., and Duffy J. Screw Theory and its Application to Spatial Robot Manipulators (2007), University of Florida
6. F.M. Dimentberg, The screw calculus and its applications in mechanics, Foreign Technology Division, Wright-Patterson Air Force Base, Ohio, Document No. FTD-HT-23-1632-67, 1965.
7. Huang S., and Schimmels J.M. The bounds and realization of spatial stiffness achieved with simple springs connected in parallel. IEEE Transactions on Robotics and Automation 14 3 (1998) 466-475
8. N. Ciblak, H. Lipkin, Synthesis of cartesian stiffness for robotic applications, in: Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, May 1999, pp. 2147-2152.
9. Roberts R.G. Minimal realization of a spatial stiffness matrix with simple springs connected in parallel. IEEE Transactions on Robotics and Automation 15 5 (1999) 953-958
10. Simaan N., and Shoham M. Geometric interpretation of the derivatives of parallel robot's Jacobian matrix with application to stiffness control. ASME Journal of Mechanical Design 125 (2003) 33-42
11. Featherstone J. Robot Dynamics Algorithms (1985), Kluwer Academic Publishers
12. N. Ciblak, H. Lipkin, Asymmetric cartesian stiffness for the modeling of compliant robotic systems, in: Proc. ASME 23rd Biennial Mech. Conf., Des. Eng. Div., New York, NY, vol. 72, 1994.