DocumentCode
1865810
Title
New conservative stiffness mapping for the Stewart-Gough platform
Author
Huang, Chintien ; Hung, Wei-Heng ; Kao, Imin
Author_Institution
National Cheng Kung Univ.
Volume
1
fYear
2002
fDate
11-15 May 2002
Firstpage
823
Lastpage
828
Abstract
This paper presents a new conservative stiffness mapping for parallel manipulators. This new formulation properly obeys the law of the conservation of energy. The change in geometry of a parallel manipulator due to compliance is captured by an additional stiffness matrix, which has so far been neglected by other researchers. Numerical simulations of the planar and spatial Stewart-Gough platforms are conducted to verify the conservative stiffness mapping.
Keywords
Angular velocity; Geometry; Jacobian matrices; Manipulators; Mechanical engineering; Numerical simulation; Solid modeling; Springs; Symmetric matrices; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location
Washington, DC, USA
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013459
Filename
1013459
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