TY - JOUR
T1 - Experimental validation of Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs
AU - Hoevenaars, Antonius G L
AU - Gosselin, Clément
AU - Lambert, Patrice
AU - Herder, Just L.
PY - 2016
Y1 - 2016
N2 - A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.
AB - A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.
UR - http://www.scopus.com/inward/record.url?scp=84962907408&partnerID=8YFLogxK
U2 - 10.1115/1.4032204
DO - 10.1115/1.4032204
M3 - Article
AN - SCOPUS:84962907408
SN - 1942-4302
VL - 8
JO - Journal of Mechanisms and Robotics
JF - Journal of Mechanisms and Robotics
IS - 4
M1 - 041002
ER -