Cartesian Stiffness Matrix Mapping of a Translational Parallel Mechanism with Elastic Joints

[摘要] This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto-static adimensional indices are proposed to measure the response of the manipulator in terms of stiffness.

[学科分类] 自动化工程

[关键词] Stiffness Matrix;elastic joints;translational parallel manipulators