期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
期号：10
页码：173
DOI：10.5772/59306
语种：English
出版社：SAGE Publications
摘要：This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the manipulator with zero/one additional legs. Two performance indices are given to compare the stiffness of the parallel manipulators with two additional legs with those of the manipulators with zero/one additional legs. The method not only can be used to derive the stiffness model of a redundant parallel manipulator, but also to model the stiffness of non-redundant parallel manipulators.
关键词：Stiffness; Actuation Redundancy; Parallel Manipulator; Comparison Study
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