2009 IEEE/RSJ International Conference on Intelligent Robots and Systems 2009
DOI: 10.1109/iros.2009.5353906
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Design optimization of a Delta-like parallel robot through global stiffness performance evaluation

Abstract: International audienceThis paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives. For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and joint compliances. The models are then involved within a statistically sensitivity analysis of the influence of the geometric parameters on four global indices that describe the structure stiffne… Show more

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Cited by 48 publications
(37 citation statements)
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References 23 publications
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“…Generally, the maximum and minimum eigenvalues, [34][35][36] the determinant, [35] the Euclidean norm of the diagonal elements [37], and the condition number [38] of the stiffness matrix can be accepted as stiffness indices. These indices cannot be interpreted easily, since the translation and orientation of a parallel manipulator have different units.…”
Section: Stiffnessmentioning
confidence: 99%
“…Generally, the maximum and minimum eigenvalues, [34][35][36] the determinant, [35] the Euclidean norm of the diagonal elements [37], and the condition number [38] of the stiffness matrix can be accepted as stiffness indices. These indices cannot be interpreted easily, since the translation and orientation of a parallel manipulator have different units.…”
Section: Stiffnessmentioning
confidence: 99%
“…The actuators of the rotation head are located on the moving platform of the Delta robot. This 6-DOF Delta robot has recently been developed for pickand-place applications [13] and is used as a surgical tool [14].…”
Section: Manipulator Descriptionsmentioning
confidence: 99%
“…In the optimization stage, the stiffness matrix is required to be converted to a stiffness index to evaluate the stiffness quality of a parallel manipulator. Generally, the maximum or minimum eigenvalue of the stiffness matrix is used as the stiffness index [19][20][21], since the maximum and minimum eigenvalues present the most and least rigid values in the directions specified by the corresponding eigenvectors. It should be noted that the maximum and minimum eigenvalues are used to define upper and lower bounds of the stiffness.…”
Section: Introductionmentioning
confidence: 99%