On the stiffness of three/four degree-of-freedom parallel pick-and-place robots with four identical limbs

Guanglei Wu; Shaoping Bai; Preben Hjornet

ICRA 201622 citations

On the stiffness of three/four degree-of-freedom parallel pick-and-place robots with four identical limbs

Guanglei Wu, Shaoping Bai, Preben Hjornet

Abstract

This paper presents stiffness analysis of a family of three/four degree-of-freedom pick-and-place robots with four identical limbs. The Cartesian stiffness matrix of the robots is modeled with the virtual spring approach. By means of a nondimensionalization of the stiffness matrix, the 6 × 6 inhomogeneous stiffness matrix is decomposed into two homogeneous sub-matrices, of which two performance indices, corresponding to the translational and rotational stiffnesses, are defined to evaluate the stiffness behaviors of the manipulators. A comparative study among the robot counterparts is carried out with respect to the elasto-static performance.

BibTeX

@inproceedings{icra2016_onthestiffnessof,
  title = {On the stiffness of three/four degree-of-freedom parallel pick-and-place robots with four identical limbs},
  author = {Guanglei Wu and Shaoping Bai and Preben Hjornet},
  booktitle = {ICRA 2016},
  year = {2016}
}