Abstract
Parallel manipulators are known to be more stiff than the serial manipulators. However, modeling the stiffness for parallel manipulators are difficult compared to serial manipulators due to the constrained structure and passive joints. In addition, computation of the stiffness model for parallel manipulators are exhausting since it requires an iterative solution algorithm due requirement of force-position convergence of all serial chains connecting to the same mobile platform. Direct solutions are faster however, they lack in accuracy. In this study, direct solution is preferred for real-time application and analytic stiffness model of the modified R-CUBE mechanism is obtained by using Virtual Joint Method (VJM). The finite element (FE) model is constructed and simulated to validate the analytical model. Then, a combination of external wrenches \(\pm 5\) N in various directions are applied on the mobile platform in both FE and VJM in some critical poses. Finally, the computed numerical results are listed and compared along with their computation times.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Connor, J.J.: Analysis of Structural Member Systems. Ronald Press Co., New York (1976)
Gosselin, C.: Stiffness mapping for parallel manipulators. IEEE Trans. Robot. Autom. 6(3), 377–382 (1990)
Kern, T.A.: Engineering Haptic Devices: A Beginner’s Guide for Engineers. Springer (2009)
Li, W., Gao, F., Zhang, J.: R-CUBE, a decoupled parallel manipulator only with revolute joints. Mech. Mach. Theory 40(4), 467–473 (2005)
McGuire, W., Gallagher, R.H., Ziemian, R.D.: Matrix structural analysis (2000)
Pashkevich, A., Klimchik, A., Chablat, D.: Enhanced stiffness modeling of manipulators with passive joints. Mech. Mach. Theory 46(5), 662–679 (2011)
Salisbury, J.K., Craig, J.J.: Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4–17 (1982)
Wu, G., Bai, S., Kepler, J.: Mobile platform center shift in spherical parallel manipulators with flexible limbs. Mech. Mach. Theory 75, 12–26 (2014)
Acknowledgements
This work is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Görgülü, İ., Dede, M.İ.C. (2019). Computation Time Efficient Stiffness Analysis of the Modified R-CUBE Mechanism. In: Carbone, G., Gasparetto, A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2018. Mechanisms and Machine Science, vol 68. Springer, Cham. https://doi.org/10.1007/978-3-030-03320-0_25
Download citation
DOI: https://doi.org/10.1007/978-3-030-03320-0_25
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-03319-4
Online ISBN: 978-3-030-03320-0
eBook Packages: EngineeringEngineering (R0)