| contributor author | Youyu Wang | |
| contributor author | Derek G. Chetwynd | |
| contributor author | Haitao Liu | |
| contributor author | Tian Huang | |
| date accessioned | 2017-05-09T00:34:35Z | |
| date available | 2017-05-09T00:34:35Z | |
| date copyright | May, 2009 | |
| date issued | 2009 | |
| identifier issn | 1942-4302 | |
| identifier other | JMROA6-27977#021002_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/141484 | |
| description abstract | Taking the 3DOF parallel mechanism within the Tricept robot as an example, this paper presents an analytical approach for the stiffness modeling of parallel kinematic machines having a properly constrained passive limb. The stiffness model is formulated using the 6×6overall Jacobian. It takes particular interest in the precise formulation of the bending stiffness matrix of the properly constrained passive limb by considering the compatibility conditions of the system. Stiffness evaluation of a sample Tricept robot is carried out using two global indices obtained from singular value decomposition of the compliance matrix. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Stiffness Modeling of the Tricept Robot Using the Overall Jacobian Matrix | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 2 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.3046131 | |
| journal fristpage | 21002 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2009:;volume( 001 ):;issue: 002 | |
| contenttype | Fulltext | |