Study of the passive compliance of parallel manipulators
Identifieur interne : 008502 ( Main/Exploration ); précédent : 008501; suivant : 008503Study of the passive compliance of parallel manipulators
Auteurs : D. Chakarov [Bulgarie]Source :
- Mechanism and Machine Theory [ 0094-114X ] ; 1997.
Abstract
This paper studies the characteristic mechanical stiffness or compliance by means of which the interaction of a manipulator with the environment is controlled. A mechanical model of manipulators with parallel structure is presented in which compliance is determined by the shaft stiffnesses in the joints and by the antagonistically acting driving forces. An optimization procedure of the stiffness of a manipulator with a variable structure is proposed. Computer experiments on the compliance of a parallel manipulator have been performed. The results are visualized by means of the compliance ellipses and ellipsoids.
Url:
DOI: 10.1016/S0094-114X(98)00039-1
Affiliations:
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