Title :
Stiffness analysis of a class of parallel mechanisms for micro-positioning applications
Author :
Arumugam, Hemanth K. ; Voyles, Richard M. ; Bapat, Sanika
Author_Institution :
Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA
fDate :
28 Sept.-2 Oct. 2004
Abstract :
Micro-positioning devices are increasingly being made of parallel manipulators due to their superior stiffness characteristics. This paper explores a variant of the classical six degrees-of-freedom Stewart-Gough platforms for use in micro-positioning applications. Stiffness values of both these mechanisms are computed and compared for relative gain in theoretical stiffness achieved. An over-sized version of the platform was built for educational purposes.
Keywords :
manipulators; mechanical variables control; micropositioning; classical six degrees-of-freedom Stewart-Gough platform; micro-positioning device; parallel manipulator; parallel mechanism; stiffness analysis; Application software; Assembly; Computer science; Costs; Hydraulic actuators; Jacobian matrices; Matrix converters; Shape; Whales;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389662
