A stiffness analysis for CaPaMan (Cassino Parallel Manipulator)

Ceccarelli, Marco; Carbone, Giuseppe

doi:10.1016/s0094-114x(02)00006-x

Cited by 131 publications

(68 citation statements)

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“…Ceccarelli and Carbone who considered the kinematic and static features of the three legs in view of the motions of every joint and link [17]. Li and Xu proposed an intuitive method based upon an overall Jacobian to formulate the stiffness matrix of a 3-PUU translational PKM.…”

Section: -Dof Capaman Parallel Manipulator Is Established Bymentioning

confidence: 99%

“…As one of the most overwhelming concerns in the early design stage of such a PKM designed for HSM applications where high rigidity and high positioning accuracy are required, stiffness has attracted extensive attention from the research societies [13][14][15][16][17][18][19][20][21][22]. Among all the studies towards the stiffness modeling and evaluation, the finite element method (FEM) [13,14], the matrix structure method (MSM) [15,16], the virtual joint method (VJM) [17,18] and the screw-based method (SBM) [19][20][21][22] are the most common used approaches.…”

Section: Introductionmentioning

confidence: 99%

“…Among all the studies towards the stiffness modeling and evaluation, the finite element method (FEM) [13,14], the matrix structure method (MSM) [15,16], the virtual joint method (VJM) [17,18] and the screw-based method (SBM) [19][20][21][22] are the most common used approaches.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinetostatic-model-based stiffness analysis of Exechon PKM

Zhang

Zhao

Jin

2016

Robotics and Computer-Integrated Manufacturing

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Kinetostatic-model-based Stiffness Analysis of Exechon PKMAs a comparative newly-invented PKM with over-constraints in kinematic chains, the Exechon has attracted extensive attention from the research society. Different from the well-recognized kinematics analysis, the research on the stiffness characteristics of the Exechon still remains as a challenge due to the structural complexity. In order to achieve a thorough understanding of the stiffness characteristics of the Exechon PKM, this paper proposed an analytical kinetostatic model by using the substructure synthesis technique. The whole PKM system is decomposed into a moving platform subsystem, three limb subsystems and a fixed base subsystem, which are connected to each other sequentially through corresponding joints. Each limb body is modeled as a spatial beam with uniform cross-section constrained by two sets of lumped springs. The equilibrium equation of each individual limb assemblage is derived through finite element formulation and combined with that of the moving platform derived with Newtonian method to construct the governing kinetostatic equations of the system after introducing the deformation compatibility conditions between the moving platform and the limbs. By extracting the 66 block matrix from the inversion of the governing compliance matrix, the stiffness of the moving platform is formulated. The computation for the stiffness of the Exechon PKM at a typical configuration as well as throughout the workspace is carried out in a quick manner with a piece-by-piece partition algorithm. The numerical simulations reveal a strong position-dependency of the PKM's stiffness in that it is symmetric relative to a work plane due to structural features. At the last stage, the effects of some design variables such as structural, dimensional and stiffness parameters on system rigidity are investigated with the purpose of providing useful information for the structural optimization and performance enhancement of the Exechon PKM. It is worthy mentioning that the proposed methodology of stiffness modeling in this paper can also be applied to other overconstrained PKMs and can evaluate the global rigidity over workplace efficiently with minor revisions.

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Section: -Dof Capaman Parallel Manipulator Is Established Bymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinetostatic-model-based stiffness analysis of Exechon PKM

Zhang

Zhao

Jin

2016

Robotics and Computer-Integrated Manufacturing

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“…The determinant of stiffness matrix does not distinguish specific stiffness values, and the average stiffness cannot give enough information of stiffness values [32]. The minimum and maximum stiffness are minimum and maximum eigenvalue of stiffness matrix, respectively, which can indicate variation range of stiffness values, and the corresponding eigenvector directions represent the minimum and maximum stiffness directions, respectively.…”

Section: Introductionmentioning

confidence: 99%

Research on Stiffness of Multibackbone Continuum Robot Based on Screw Theory and Euler-Bernoulli Beam

Wang

2018

Mathematical Problems in Engineering

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Continuum robots have become a focus for extensive research, since they can work well in complex and confined environments. The main contribution of this paper is to establish a stiffness model of a single section multibackbone continuum robot and analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. First, a stiffness model which indicates the end configuration of continuum robot under external load is deduced by the screw theory and Euler-Bernoulli beam. Then, the stiffness elements are fully analyzed, therefore, obtaining the influence of the structural parameters of continuum robot on the stiffness elements. Meanwhile, a numerical analysis of stiffness elements is given. Furthermore, the minimum and maximum rotation/translation stiffness are introduced to analyze the effect of the structural parameters of continuum robot on the overall rotation and translation stiffness. Finally, the experiments are used to validate the proposed stiffness model. The experimental results show that the proposed stiffness model of continuum robot is correct and the errors are less than 7%.

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“…Ceccarelli & Carbone (Ceccarelli & Carbone, 2005) elaborated a similar method constructing a stiffness matrix as the product of several matrices. They used matrices which relate the applied external wrench to local reactions, a second set of matrices which relate these local reactions to local deformation and finally other matrices which relate local deformation to end-effector deformation, and completed it with lumped parameters (Ceccarelli & Carbone, 2002).…”

Section: Introductionmentioning

confidence: 99%