A method for analyzing parallel mechanism stiffness including elastic deformations in the structure

Woo Keun Yoon, Takashi Suehiro, Yuichi Tsumaki, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    12 Citations (Scopus)

    Abstract

    In this paper, we present a method for analyzing parallel mechanism stiffness including elastic deformations in the structure. In our previous works, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanism is usually characterized by a high stiffness, however, it is reduced by elastic deformations of both parts and bearings. Therefore, to study such a parallel mechanism, we analyzed stiffness in a parallel mechanism, including elastic deformation of both parts and bearings. Key points of our method are a modeling of bearings, a modeling of a elasticity coefficient of a passive axis in a bearing and a modeling of a parallel mechanism. Finally, we show that our stiffness analysis method of a parallel mechanism is high reliability and precision.

    Original languageEnglish
    Pages2875-2880
    Number of pages6
    Publication statusPublished - 2002 Jan 1
    Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
    Duration: 2002 Sep 302002 Oct 4

    Other

    Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CountrySwitzerland
    CityLausanne
    Period02/9/3002/10/4

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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