Abstract
In this paper a stiffness analysis approach for Delta parallel robots is presented, which combines the Virtual Joint Method (VJM) with a Finite Element Analysis (FEA) stiffness model of the proximal link. By comparison with a purely analytical model and measurements it is shown that using this more laborious combination of VJM and FEA is reasonable in early stages of the robot design process.
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This work is supported by the German Academic Exchange Service (DAAD) with funds from the Federal Foreign Office (FFO).
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Corves, B., Mirz, C., Brinker, J., Matsuura, D., Takeda, Y. (2019). Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_44
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DOI: https://doi.org/10.1007/978-3-319-78963-7_44
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