A compact modified Delta parallel mechanism design based on a stiffness analysis

2004 ◽  
Author(s):  
Woo-Keun Yoon ◽  
T. Suehiro ◽  
Y. Tsumaki ◽  
M. Uchiyama
Keyword(s):  
Mechanism Design ◽  
Parallel Mechanism ◽  
Stiffness Analysis

Kineto Static Design and Stiffness Analysis of a New Kind of 3-RRR Planar Parallel Manipulator

2014 ◽  
Vol 592-594 ◽  
pp. 2303-2307
Author(s):  
M. Ganesh ◽  
R. Karthikeyan ◽  
Anjan Kumar Dash ◽  
M. Vikramadityan ◽  
R. Gopalachary
Keyword(s):  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Moment Of Inertia ◽  
Stiffness Analysis ◽  
Stiffness Model ◽  
Planar Parallel Manipulator ◽  
The Moment

This paper presents a new design of a 3-RRR planar manipulator with non-planar legs. In contrast to the conventional 3-RRR planar parallel mechanism, the links are not planar. They are elevated above the X-Y plane and non planar legs are constructed. The kinematics of this model is realized on a common projected plane and traced back to its elevated position. The moment of inertia for the inclined links is computed. A stiffness model is established for the proposed design of 3-RRR manipulator and compared with a conventional 3-RRR planar manipulator. The analysis shows how the proposed design has better stiffness along all the three directions of motion.

scholarly journals Calibration Mechanism Design and Stiffness Analysis

2019 ◽  
Vol 520 ◽  
pp. 012014
Author(s):  
Siyu Xia ◽  
Jinfeng Shi ◽  
Guorui Ren ◽  
Chuang Li
Keyword(s):  
Mechanism Design ◽  
Stiffness Analysis

Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control

2009 ◽  
Vol 16-19 ◽  
pp. 786-790 ◽  
Author(s):  
Shu Jun Li ◽  
Clément Gosselin
Keyword(s):  
Stiffness Matrix ◽  
Parallel Mechanism ◽  
Stiffness Analysis ◽  
Numerical Examples ◽  
Stiffness Control ◽  
Conservative Congruence Transformation ◽  
Stiffness Characteristics ◽  
External Forces ◽  
Congruence Transformation

The analytical stiffness equations of the 3-RPR planar parallel mechanism are derived in this paper based on the Conservative Congruence Transformation (CCT) stiffness matrix proposed in [1-3]. Stiffness maps of the 3-RPR mechanism are plotted in order to show the behaviour of the stiffness with and without external forces. The stiffness characteristics of the mechanism are analyzed and discussed in details. Numerical examples show that the stiffness in x and in y are well balanced, while the stiffness in tends to be lower.

Research on Parametric Simulation Technology Based on Complicated Mechanism Design

2008 ◽  
Author(s):  
Wei Sun ◽  
Qingkai Han ◽  
Xiaopeng Li ◽  
Bangchun Wen
Keyword(s):  
Mechanism Design ◽  
Simulation Study ◽  
Parallel Mechanism ◽  
Parametric Modeling ◽  
New Method ◽  
Simulation Technology ◽  
The Core ◽  
Simulation Based ◽  
Complicated Mechanism

A new method is proposed, which is the core of parametric simulation based on complicated mechanism design. Furthermore, the connotation of parametric simulation is affirmed and the flow of parametric simulation based on complicated mechanism design is put forward. At last, taking a parallel mechanism as example, the technology of parametric simulation proposed is applied to the simulation study used ADAMS, which consist of analyzing mechanism, parametric modeling, creating GUI, creating menu and parametric simulation. The practice indicates that the method is effectual.

Kinematic Optimization of a Redundantly Actuated Parallel Mechanism for Maximizing Stiffness and Workspace Using Taguchi Method

2010 ◽  
Vol 6 (1) ◽  
Author(s):  
Hyunpyo Shin ◽  
Sungchul Lee ◽  
Woosung In ◽  
Jay I. Jeong ◽  
Jongwon Kim
Keyword(s):  
Taguchi Method ◽  
Parallel Mechanism ◽  
Optimization Procedure ◽  
Kinematic Parameter ◽  
Response Analysis ◽  
Kinematic Parameters ◽  
Stiffness Analysis ◽  
Second Stage ◽  
Workspace Analysis ◽  
Redundantly Actuated

We present an optimization procedure that uses the Taguchi method to maximize the mean stiffness and workspace of a redundantly actuated parallel mechanism at the same time. The Taguchi method is used to separate the more influential and controllable variables from the less influential ones among kinematic parameters in workspace analysis and stiffness analysis. In the first stage of optimization, the number of experimental variables is reduced by the response analysis. Quasi-optimal kinematic parameter group is obtained in the second stage of optimization after the response analysis. As a validation of the suggested procedure, the kinematic parameters of a planar 2-DOF parallel manipulator are optimized, which optimization procedure is used to investigate the optimal kinematic parameter groups between the length of the link and the stiffness.

Sign in / Sign up

Export Citation Format

Share Document