An analytical approach to the stiffness calculation of statically indeterminate 3-DOF delta parallelogram-type parallel robot
Amir Hashemi Dastjerdi,
Mohammad Morad Sheikhi,
Mehdi Tale Masouleh
Abstract:This paper introduces an analytical approach entailing a clear physical meaning for calculating the stiffness of the 3-DOF Delta parallel robot. By defining suitable linear and torsion springs, the stiffness of the robot components in different postures and the stiffness coefficients of the indeterminate parallelogram under conceivable wrenches are comprehensively obtained. Moreover, the stiffness coefficients for each limb chain are assigned, and then by considering the assigned stiffness coefficients and sta… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.