Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator
In this paper, accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator (SPM) (Enferadi and Tootoonchi, A novel spherical parallel manipulator: Forward position problem, singularity analysis and isotropy design, Robotica, vol. 27, 2009, pp. 663–676) with symmetrical geometry is inve...
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| Veröffentlicht in: | Robotica 2011-03, Vol.29 (2), p.193-209 |
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| creator | Enferadi, Javad Tootoonchi, Alireza Akbarzadeh |
| description | In this paper, accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator (SPM) (Enferadi and Tootoonchi, A novel spherical parallel manipulator: Forward position problem, singularity analysis and isotropy design, Robotica, vol. 27, 2009, pp. 663–676) with symmetrical geometry is investigated. At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator is obtained. The kinematics conditioning index (KCI) is evaluated on the workspace. Global conditioning index (GCI) of the manipulator is calculated and compared with another SPM. Unlike traditional stiffness analysis, the moving platform is assumed to be flexible. A continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano's theorem. The mathematical model is verified by finite element model. Finally, using mathematical model, kinematics stiffness index (KSI), and global stiffness index (GSI) are evaluated. |
| doi_str_mv | 10.1017/S0263574710000032 |
| format | Article |
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At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator is obtained. The kinematics conditioning index (KCI) is evaluated on the workspace. Global conditioning index (GCI) of the manipulator is calculated and compared with another SPM. Unlike traditional stiffness analysis, the moving platform is assumed to be flexible. A continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano's theorem. The mathematical model is verified by finite element model. Finally, using mathematical model, kinematics stiffness index (KSI), and global stiffness index (GSI) are evaluated.</description><identifier>ISSN: 0263-5747</identifier><identifier>EISSN: 1469-8668</identifier><identifier>DOI: 10.1017/S0263574710000032</identifier><language>eng</language><publisher>Cambridge, UK: Cambridge University Press</publisher><subject>Accuracy ; Conditioning ; Design engineering ; Kinematics ; Manipulators ; Mathematical models ; Robot arms ; Stiffness</subject><ispartof>Robotica, 2011-03, Vol.29 (2), p.193-209</ispartof><rights>Copyright © Cambridge University Press 2010</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c349t-b5fa0dc881864bdbf64063475dfdbd2598a364075278d46c32cbc73f22da7d83</citedby><cites>FETCH-LOGICAL-c349t-b5fa0dc881864bdbf64063475dfdbd2598a364075278d46c32cbc73f22da7d83</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.cambridge.org/core/product/identifier/S0263574710000032/type/journal_article$$EHTML$$P50$$Gcambridge$$H</linktohtml><link.rule.ids>164,314,780,784,27924,27925,55628</link.rule.ids></links><search><creatorcontrib>Enferadi, Javad</creatorcontrib><creatorcontrib>Tootoonchi, Alireza Akbarzadeh</creatorcontrib><title>Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator</title><title>Robotica</title><addtitle>Robotica</addtitle><description>In this paper, accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator (SPM) (Enferadi and Tootoonchi, A novel spherical parallel manipulator: Forward position problem, singularity analysis and isotropy design, Robotica, vol. 27, 2009, pp. 663–676) with symmetrical geometry is investigated. At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator is obtained. The kinematics conditioning index (KCI) is evaluated on the workspace. Global conditioning index (GCI) of the manipulator is calculated and compared with another SPM. Unlike traditional stiffness analysis, the moving platform is assumed to be flexible. A continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano's theorem. The mathematical model is verified by finite element model. Finally, using mathematical model, kinematics stiffness index (KSI), and global stiffness index (GSI) are evaluated.</description><subject>Accuracy</subject><subject>Conditioning</subject><subject>Design engineering</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Mathematical models</subject><subject>Robot arms</subject><subject>Stiffness</subject><issn>0263-5747</issn><issn>1469-8668</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2011</creationdate><recordtype>article</recordtype><sourceid>ABUWG</sourceid><sourceid>AFKRA</sourceid><sourceid>AZQEC</sourceid><sourceid>BENPR</sourceid><sourceid>CCPQU</sourceid><sourceid>DWQXO</sourceid><sourceid>GNUQQ</sourceid><recordid>eNp1UEtLAzEQDqJgrf4Ab8GTl9W8NkmPpfiCglJ7X2bz0C3Zh8nuof_eXVoQFOcyzHyPYT6Erim5o4Sq-3fCJM-VUJRMxdkJmlEhF5mWUp-i2QRnE36OLlLaEUI5FWqGXpbGDBHMHkNjceor7xuX0jhB2Kcq4dZjwDzbbN5w6j5drAwE3EGEEFzANTRVNwTo23iJzjyE5K6OfY62jw_b1XO2fn16WS3XmeFi0Wdl7oFYozXVUpS29FIQyYXKrbelZflCAx9XKmdKWyENZ6Y0invGLCir-RzdHmy72H4NLvVFXSXjQoDGtUMqqFSUScYX-Ui9-UXdtUMcH0uFFno8yoUYSfRAMrFNKTpfdLGqIe4LSoop2uJPtKOGHzVQl7GyH-7H-X_VNzVHeXY</recordid><startdate>201103</startdate><enddate>201103</enddate><creator>Enferadi, Javad</creator><creator>Tootoonchi, Alireza Akbarzadeh</creator><general>Cambridge University Press</general><scope>AAYXX</scope><scope>CITATION</scope><scope>3V.</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>7XB</scope><scope>8AL</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>8FK</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>DWQXO</scope><scope>F28</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>L6V</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>M0N</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PTHSS</scope><scope>Q9U</scope></search><sort><creationdate>201103</creationdate><title>Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator</title><author>Enferadi, Javad ; 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At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator is obtained. The kinematics conditioning index (KCI) is evaluated on the workspace. Global conditioning index (GCI) of the manipulator is calculated and compared with another SPM. Unlike traditional stiffness analysis, the moving platform is assumed to be flexible. A continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano's theorem. The mathematical model is verified by finite element model. Finally, using mathematical model, kinematics stiffness index (KSI), and global stiffness index (GSI) are evaluated.</abstract><cop>Cambridge, UK</cop><pub>Cambridge University Press</pub><doi>10.1017/S0263574710000032</doi><tpages>17</tpages></addata></record> |
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| ispartof | Robotica, 2011-03, Vol.29 (2), p.193-209 |
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| source | Cambridge University Press Journals Complete |
| subjects | Accuracy Conditioning Design engineering Kinematics Manipulators Mathematical models Robot arms Stiffness |
| title | Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator |
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