| contributor author | Hoevenaars, Antonius G. L. | |
| contributor author | Gosselin, Clأ©ment | |
| contributor author | Lambert, Patrice | |
| contributor author | Herder, Just L. | |
| date accessioned | 2017-05-09T01:31:26Z | |
| date available | 2017-05-09T01:31:26Z | |
| date issued | 2016 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_008_04_041002.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/161917 | |
| description abstract | A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degreesoffreedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobianbased stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limitedDoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Experimental Validation of Jacobian Based Stiffness Analysis Method for Parallel Manipulators With Nonredundant Legs | |
| type | Journal Paper | |
| journal volume | 8 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4032204 | |
| journal fristpage | 41002 | |
| journal lastpage | 41002 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004 | |
| contenttype | Fulltext | |