Jacobian and stiffness analysis of a novel class of six-DOF parallel minimanipulators [electronic resource].
- Arlington, Va. : National Science Foundation (U.S.), 1992.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- 8 pages : digital, PDF file
- Additional Creators:
- University of Maryland (College Park, Md.), National Science Foundation (U.S.), and United States. Department of Energy. Office of Scientific and Technical Information
- Restrictions on Access:
- Free-to-read Unrestricted online access
- The Jacobian and stiffness matrices of two types of novel, six-DOF parallel minimanipulators are derived. A minimanipulator consists of three inextensible limbs, each of which is driven by a two-DOF driver. Bilinear stepper motors are used as drivers in the first type minimanipulator, whereas five-bar linkages are used as drivers in the second type minimanipulator. All of the minimanipulator actuators are base-mounted. Inextensible limbs (and five-bar linkage drivers in the second type minimanipulator) improve positional resolution and stiffness of the minimanipulators in certain directions. It is shown that, at the central configuration, the stiffness matrix of the first type minimanipulator can be diagonalized (decoupled). It is also shown that the first type minimanipulator can be designed to possess direct or torsional isotropic stiffness properties. Moreover, guidelines for designing the drivers of the second type minimanipulator are established. 20 refs.
- Report Numbers:
- E 1.99:conf-9209143--2
- Other Subject(s):
- Published through SciTech Connect.
22. American Society of Mechanical Engineers (ASME) biennial mechanisms conference,Scottsdale, AZ (United States),Sep 1992.
Tsai, Lung-Wen; Tashmasebi, F.
- Funding Information:
View MARC record | catkey: 14113092