Title :
New conservative stiffness mapping for the Stewart-Gough platform
Author :
Huang, Chintien ; Hung, Wei-Heng ; Kao, Imin
Author_Institution :
National Cheng Kung Univ.
Abstract :
This paper presents a new conservative stiffness mapping for parallel manipulators. This new formulation properly obeys the law of the conservation of energy. The change in geometry of a parallel manipulator due to compliance is captured by an additional stiffness matrix, which has so far been neglected by other researchers. Numerical simulations of the planar and spatial Stewart-Gough platforms are conducted to verify the conservative stiffness mapping.
Keywords :
Angular velocity; Geometry; Jacobian matrices; Manipulators; Mechanical engineering; Numerical simulation; Solid modeling; Springs; Symmetric matrices; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC, USA
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013459
