Paper Title:
Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control
  Abstract

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.

  Info
Periodical
Edited by
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
Pages
786-790
DOI
10.4028/www.scientific.net/AMM.16-19.786
Citation
S. J. Li, C. Gosselin, "Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control", Applied Mechanics and Materials, Vols. 16-19, pp. 786-790, 2009
Online since
October 2009
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