Research Papers

Stiffness Modeling of the Tricept Robot Using the Overall Jacobian Matrix

[+] Author and Article Information
Youyu Wang, Haitao Liu

School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

Tian Huang1

School of Mechanical Engineering, Tianjin University, Tianjin 300072, China

Derek G. Chetwynd

School of Engineering, The University of Warwick, Coventry CV4 7AL, UK


Corresponding author.

J. Mechanisms Robotics 1(2), 021002 (Jan 06, 2009) (8 pages) doi:10.1115/1.3046131 History: Received December 04, 2007; Revised June 16, 2008; Published January 06, 2009

Taking the 3DOF parallel mechanism within the Tricept robot as an example, this paper presents an analytical approach for the stiffness modeling of parallel kinematic machines having a properly constrained passive limb. The stiffness model is formulated using the 6×6overall Jacobian. It takes particular interest in the precise formulation of the bending stiffness matrix of the properly constrained passive limb by considering the compatibility conditions of the system. Stiffness evaluation of a sample Tricept robot is carried out using two global indices obtained from singular value decomposition of the compliance matrix.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

The Tricept robot

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Figure 2

Schematic of the Tricept

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Figure 7

The moving coordinate system O′−u″v″w″ in which the stiffness of the platform is evaluated

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Figure 8

The stiffness distributions of the sample robot at z=1.220 mm

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Figure 9

The superelement of the UP limb

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Figure 3

The UP̱S limb for stiffness modeling

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Figure 4

The UP limb for stiffness modeling

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Figure 5

Elastic energy equivalence in bending

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Figure 6

Schematic of a U joint



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