Title :
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
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;
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
DOI :
10.1109/ICMA.2007.4303827
