Geometrical approach to the conservative congruence transformation (CCT) for robotic stiffness control

2003 ◽  
Author(s):  
Shih-Feng Chen ◽  
I. Kao
Keyword(s):  
Geometrical Approach ◽  
Stiffness Control ◽  
Conservative Congruence Transformation ◽  
Congruence Transformation

Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control

2009 ◽  
Vol 16-19 ◽  
pp. 786-790 ◽  
Author(s):  
Shu Jun Li ◽  
Clément Gosselin
Keyword(s):  
Stiffness Matrix ◽  
Parallel Mechanism ◽  
Stiffness Analysis ◽  
Numerical Examples ◽  
Stiffness Control ◽  
Conservative Congruence Transformation ◽  
Stiffness Characteristics ◽  
External Forces ◽  
Congruence Transformation

The analytical stiffness equations of the 3-RPR planar parallel mechanism are derived in this paper based on the Conservative Congruence Transformation (CCT) stiffness matrix proposed in [1-3]. Stiffness maps of the 3-RPR mechanism are plotted in order to show the behaviour of the stiffness with and without external forces. The stiffness characteristics of the mechanism are analyzed and discussed in details. Numerical examples show that the stiffness in x and in y are well balanced, while the stiffness in tends to be lower.

Stiffness Analysis of 6-SPS Parallel Manipulator

2012 ◽  
Vol 468-471 ◽  
pp. 1220-1223
Author(s):  
Shu Jun Li ◽  
Qiao Ling Meng
Keyword(s):  
External Force ◽  
Stiffness Matrix ◽  
Parallel Manipulator ◽  
Joint Stiffness ◽  
Stiffness Analysis ◽  
Conservative Congruence Transformation ◽  
External Forces ◽  
And Behavior ◽  
Congruence Transformation

The analytical stiffness equations of 6-SPS spatial parallel manipulator were deduced based on the Conservative Congruence Transformation (CCT) stiffness matrix. The stiffness mappings of the 6-SPS manipulator were given to show the change and behavior of the stiffness with external forces acted on the manipulator. The results show that the stiffness of the 6-SPS manipulator is configuration dependent, and proportional to the actuating forces and joint stiffness. The stiffness is correlates not only to the magnitude of external forces but also the direction of the external force acted upon.

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