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

Abstract:

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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 and 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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$35.00

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