Journal ArticleDOI
Stiffness Evaluation of Machines and Robots: Minimum Collinear Stiffness Value Approach
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TLDR
The proposed approach presents an effective design tool for evaluation and limitation of stiffness of machines and robots.Abstract:
New stiffness performance indices using the collinear stiffness value (CSV) associated with a given configuration of the machine are proposed. The minimal CSV (MinCSV) is applied to stiffness evaluation for all types of configurations. Similar to the determinant, the MinCSV equals zero in singular configurations. In regular configurations, the MinCSV is applied to evaluation of local stiffness for a given configuration and global stiffness in the workspace, wherein stiffness limitations are satisfied. A screw stiffness value, i.e., the CSV during a screw displacement, presents the general case of the CSV. There are two important special cases: rotational and translational stiffness values. Procedures for evaluation of the MinCSV are developed in natural and dimensionless forms. The CSV of the hexapod are simulated and compared with those of serial-type mechanisms. The proposed approach presents an effective design tool for evaluation and limitation of stiffness of machines and robots.read more
Citations
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Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
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Stiffness modeling, analysis and evaluation of a 5 degree of freedom hybrid manipulator for friction stir welding:
TL;DR: In this article, a 5-degree-of-freedom hybrid manipulator as a friction stir welding robot is proposed, which is composed of a 3-degree of-freedom redundant parallel module and a 2-degrees of freedom rotating head, and an instantaneous stiffness performance index is proposed on the basis of instantaneous energy defined by reciprocal product of external payload screw and corresponding deformation screw.
Journal ArticleDOI
Isotropic Compliance in E(3): Feasibility and Workspace Mapping
TL;DR: In this article, the authors introduce the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.
References
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Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
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A Treatise on the Theory of Screws
TL;DR: The theory of screws in non-Euclidian space has been studied extensively in the literature, see as mentioned in this paper for an introduction to the theory of screw co-ordinates and a survey.
Journal ArticleDOI
Stiffness mapping for parallel manipulators
TL;DR: The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator, which reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulation.
Journal ArticleDOI
Kinematic isotropy and the conditioning index of serial robotic manipulators
Jorge Angeles,C. S. Lopez-Cajun +1 more
TL;DR: In this paper, the condition number of a serial robotic manipulator is defined in terms of the reciprocal of its minimum condition number and the condition index of the manipulator's conditioning index is defined.