论文信息 - OPTIMUM LAYOUTS FOR WIRE-ACTUATED PARALLEL MANIPULATORS CONSIDERING THEIR STIFFNESS CHARACTERISTICS AND WIRE FAILURE

OPTIMUM LAYOUTS FOR WIRE-ACTUATED PARALLEL MANIPULATORS CONSIDERING THEIR STIFFNESS CHARACTERISTICS AND WIRE FAILURE

In this paper, stiffness of planar translational wire-actuated parallel manipulators is studied. The complete form of the stiffness matrix of the two degrees of freedom manipulators is formulated parametrically. The differential form of the static force balance equations is used to incorporate the variation of wire stiffness with wire length and the change in the Jacobian matrix under external force in the stiffness model. Failure of a wire, for the cases that the wire is disconnected or slack, as well as reconfiguring the anchor positions are investigated and their effects on the workspace of manipulators are presented while satisfying the constraints on wire tension and minimum stiffness. The stiffness characteristics of an example manipulator, before and after a wire failure, are discussed. Optimum layouts of the manipulator, by reconfiguring the positions of wire anchors, are identified to maximize the area of the stiffness maps.

Leila Notash | Amir Moradi

[1] J. Angeles,et al. The stiffness matrix in elastically articulated rigid-body systems , 2007 .

[2] Li Huang,et al. On the design of fault tolerant parallel manipulators , 2003 .

[3] James S. Albus,et al. Stiffness Study of a Parallel Link Robot Crane for Shipbuilding Applications , 1988 .

[4] Placid Mathew Ferreira,et al. Computation of stiffness and stiffness bounds for parallel link manipulators 1 This research was sup , 1999 .

[5] Saeed Behzadipour,et al. Antagonistic variable stiffness elements , 2009 .

[6] Joseph James Duffy,et al. Stiffness mappings employing different frames of reference , 1998 .

[7] Leila Notash,et al. Investigation of Wire Failure Effect on Stiffness Maps of Planar Wire-Actuated Parallel Manipulators , 2010 .

[8] Joseph Duffy,et al. Global stiffness modeling of a class of simple compliant couplings , 1993 .

[9] Leila Notash. Failure recovery for wrench capability of wire-actuated parallel manipulators , 2012, Robotica.

[10] Imin Kao,et al. Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers , 2000, Int. J. Robotics Res..

[11] Feng Gao,et al. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices , 2000 .

[12] Vijay Kumar,et al. Affine connections for the Cartesian stiffness matrix , 1997, Proceedings of International Conference on Robotics and Automation.