Stiffness analysis of a class of parallel mechanisms for micro-positioning applications

Stiffness analysis of a class of parallel mechanisms for micro-positioning applications

Micro-positioning devices are increasingly being made of parallel manipulators due to their superior stiffness characteristics. This paper explores a variant of the classical six degrees-of-freedom Stewart-Gough platforms for use in micro-positioning applications. Stiffness values of both these mech...

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Bibliographische Detailangaben
Hauptverfasser: Arumugam, H.K., Voyles, R.M., Bapat, S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Application software
Applied sciences
Assembly
Computer science
Computer science
control theory
systems
Control theory. Systems
Costs
Drives
Exact sciences and technology
Hydraulic actuators
Jacobian matrices
Linkage mechanisms, cams
Matrix converters
Mechanical engineering. Machine design
Shape
Whales
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Beschreibung
Zusammenfassung:Micro-positioning devices are increasingly being made of parallel manipulators due to their superior stiffness characteristics. This paper explores a variant of the classical six degrees-of-freedom Stewart-Gough platforms for use in micro-positioning applications. Stiffness values of both these mechanisms are computed and compared for relative gain in theoretical stiffness achieved. An over-sized version of the platform was built for educational purposes.
DOI:10.1109/IROS.2004.1389662