Stiffness Matrix of Compliant Parallel Mechanisms
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.
Key wordsstiffness matrix compliant parallel mechanisms kinemato-static model
Unable to display preview. Download preview PDF.
- 4.Salisbury, J.K., Active stiffness control of a manipulator in Cartesian coordinates. In Proceed-ings of the 19th IEEE Conference on Decision and Control, Albuquerque, NM, USA, pp. 87-97 (1980).Google Scholar