Study of the antagonistic stiffness of parallel manipulators with actuation redundancy

✍ Scribed by Dimitar Chakarov

• Publisher: Elsevier Science
• Year: 2004
• Tongue: English
• Weight: 399 KB
• Volume: 39
• Category: Article
• ISSN: 0094-114X
• DOI: 10.1016/j.mechmachtheory.2003.12.001

✦ Synopsis

In this paper parallel manipulators, consisting of a basic antropomorph kinematic chain and parallel chains with redundant in number linear actuators are investigated. Antagonistic stiffness, as a result of the actuation redundancy is also studied. A kinematic model of parallel manipulators and a stiffness model are created. Conditions for specification of the antagonistic stiffness are considered and the possibilities for generation of a desired stiffness matrix are investigated. Approaches for specification of a desired compliance along a given direction in the operation space and for specification of the biggest compliance in the operation space are proposed. A scheme for stiffness control of manipulators with actuation redundancy is developed on the basis of the above cited approaches. Computer experiments are performed and a graphic interpretation of the results is presented.