Analysis of structural stiffness for a parallel mechanism

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

    Research output: Contribution to journalArticlepeer-review


    In our previous work, 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 paralle-link positioning mechanism. Parallel mechanism is usually characterized by a high stiffness, however, it is reduced by elastic deformations of both part and bearings. Therefore, to design such a parallel mechanism, we should analyze a structural stiffness of a parallel mechanism, including elastic deformation of both parts and bearings. Then, we propose an simple analysis method of structural stiffness for a parallel mechanism using bearings. Our method is based on common ideas such as static elastic deformation. However, important things of our method is how to combine these ideas and how to get a value of a elasticity coefficient of a rotation axis in a bearing. Finally, we will apply ous stiffness analysis method to the modified Delta and evaluate the reliability of our method.

    Original languageEnglish
    Pages (from-to)1778-1786
    Number of pages9
    JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Issue number6
    Publication statusPublished - 2004 Jun


    • Bearing
    • Parallel Mechanism
    • Stiffness Analysis

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering


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