New Conservative Stiffness Mapping for Parallel Manipulators

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 90 === Abstract Parallel manipulators have been widely used recently, mainly due to their high stiffness structures. Parallel manipulators are suitable for applications requiring high accuracy under heavy loads. The computation of the Cartesian stiffness is essential...

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Main Authors: Wei-Heng Hung, 洪偉恒
Other Authors: Chintien Huang
Format: Others
Language:zh-TW
Published: 2002
Online Access:http://ndltd.ncl.edu.tw/handle/49560264754021071130
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spelling ndltd-TW-090NCKU54900152016-06-27T16:08:57Z http://ndltd.ncl.edu.tw/handle/49560264754021071130 New Conservative Stiffness Mapping for Parallel Manipulators 並聯式機械臂新保守剛度轉換之研究 Wei-Heng Hung 洪偉恒 碩士 國立成功大學 機械工程學系碩博士班 90 Abstract Parallel manipulators have been widely used recently, mainly due to their high stiffness structures. Parallel manipulators are suitable for applications requiring high accuracy under heavy loads. The computation of the Cartesian stiffness is essential in the stiffness control of a parallel manipulator. In practice, the compliance of a parallel manipulator is mainly contributed by the actuated joints. Therefore, the stiffness mapping from the joint stiffness to Cartesian stiffness is important. The widely used formula of stiffness mapping was proposed by Salisbury in 1980. Recently, it was discovered that the work done in joint and Cartesian spaces is not conservative by using Salisbury’s formulation. A conservative congruence transformation (CCT) for serial manipulators has been proposed by Chen and Kao to correct Salisbury’s formulation. Building upon the concept of CCT for serial manipulators, this thesis derives the formula for the stiffness mapping of parallel manipulators. We show that the proposed formulation obeys the law of conservation of energy by conducting numerical simulation for several planar and spatial parallel manipulators. The new formulation indicates that the change in geometry of a parallel manipulator due to compliance is captured by considering the differentiation of the Jacobian. This thesis also investigates the symmetry properties of parallel and serial manipulators. Chintien Huang 黃金沺 2002 學位論文 ; thesis 60 zh-TW
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description 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 90 === Abstract Parallel manipulators have been widely used recently, mainly due to their high stiffness structures. Parallel manipulators are suitable for applications requiring high accuracy under heavy loads. The computation of the Cartesian stiffness is essential in the stiffness control of a parallel manipulator. In practice, the compliance of a parallel manipulator is mainly contributed by the actuated joints. Therefore, the stiffness mapping from the joint stiffness to Cartesian stiffness is important. The widely used formula of stiffness mapping was proposed by Salisbury in 1980. Recently, it was discovered that the work done in joint and Cartesian spaces is not conservative by using Salisbury’s formulation. A conservative congruence transformation (CCT) for serial manipulators has been proposed by Chen and Kao to correct Salisbury’s formulation. Building upon the concept of CCT for serial manipulators, this thesis derives the formula for the stiffness mapping of parallel manipulators. We show that the proposed formulation obeys the law of conservation of energy by conducting numerical simulation for several planar and spatial parallel manipulators. The new formulation indicates that the change in geometry of a parallel manipulator due to compliance is captured by considering the differentiation of the Jacobian. This thesis also investigates the symmetry properties of parallel and serial manipulators.
author2 Chintien Huang
author_facet Chintien Huang
Wei-Heng Hung
洪偉恒
author Wei-Heng Hung
洪偉恒
spellingShingle Wei-Heng Hung
洪偉恒
New Conservative Stiffness Mapping for Parallel Manipulators
author_sort Wei-Heng Hung
title New Conservative Stiffness Mapping for Parallel Manipulators
title_short New Conservative Stiffness Mapping for Parallel Manipulators
title_full New Conservative Stiffness Mapping for Parallel Manipulators
title_fullStr New Conservative Stiffness Mapping for Parallel Manipulators
title_full_unstemmed New Conservative Stiffness Mapping for Parallel Manipulators
title_sort new conservative stiffness mapping for parallel manipulators
publishDate 2002
url http://ndltd.ncl.edu.tw/handle/49560264754021071130
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