Experimental validation of Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs

Antonius G L Hoevenaars, Clément Gosselin, Patrice Lambert, Just L. Herder

Research output: Contribution to journalArticleScientificpeer-review

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number041002
Number of pages10
JournalJournal of Mechanisms and Robotics
Volume8
Issue number4
DOIs
Publication statusPublished - 2016

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