Stiffness Characteristics and Kinematics Analysis of Parallel 3-DOF Mechanism with Flexible Joints

Author

Zhao, TieShi ; Zhao, YanZhi ; Shi, Liju ; Dai, Jian S.

Author_Institution

Yanshan Univ., Qinhuangdao

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1822

Lastpage

1827

Abstract

To investigate the stiffness performance of planar parallel 3-RRR mechanism with flexible joints, the paper solve the first-order and second-order influence coefficient of the mechanism, and give the mechanism kinematics simulation. Based on the principle of virtual work, the constraint equation of the mechanism is established, and the stiffness matrix is deduced. In addition, the direction stiffness characteristic of the mechanism is discussed. So, a novel and general method are raised for analysis stiffness of planar parallel mechanism with flexible joints.

Keywords

manipulator kinematics; matrix algebra; constraint equation; flexible joint; kinematics analysis; parallel 3-DOF mechanism; stiffness characteristics; Acceleration; Deformable models; Educational institutions; Equations; Force measurement; Kinematics; Mechatronics; Performance analysis; Symmetric matrices; Transmission line matrix methods; directional stiffness; flexible joints; influence coefficient; parallel 3-DOF mechanism; stiffness;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303827

Filename

4303827