Stiffness Matrix of Compliant Parallel Mechanisms

被引：45

作者：

Quennouelle, C. ^{[1
]}

Gosselin, C. M. ^{[1
]}

机构：

[1] Univ Laval, Robot Lab, Quebec City, PQ G1K 7P4, Canada

来源：

ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN | 2008年

关键词：

stiffness matrix; compliant parallel mechanisms; kinemato-static model;

D O I：

10.1007/978-1-4020-8600-7_35

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Starting from the definition of a stiffness matrix, the authors present the Cartesian stiffness matrix of parallel compliant mechanisms. The proposed formulation is more general than any other stiffness matrix found in the literature since it can take into account the stiffness of the passive joints and remains valid for large displacements. Then, the conservative property. the validity,and the positive definiteness of this matrix are discussed.

引用

页码：331 / 341

页数：11

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