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	Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy
	Wu, J. ; Wang, J.-S. ; Wang, L.-P. ; Li, T.-M.
	2010-05-10 ; 2010-05-10
关键词	dexterity stiffness parallel manipulator actuation redundancy Engineering, Mechanical
中文摘要	The current paper deals with the dexterity and stiffness of a three-degree of freedom (DOF) planar parallel manipulator with actuation redundancy, which is a subpart of a four-DOF-hybrid machine tool. Based on the kinematics, the dexterity is analysed. The stiffness indices, which are the maximum deflection of the moving platform under the action of a unit force and the minimum eigenvalue of the stiffness matrix of the manipulator, are presented for investigating the stiffness. According to the minimum eigenvalue index, it is proved that actuation redundancy can improve the stiffness of the parallel manipulator. Moreover, the relationship between the singular configuration and the stiffness of the parallel manipulator is discussed. Compared with the corresponding non-redundant parallel manipulator without the redundant link, the redundantly actuated parallel manipulator has better dexterity and higher stiffness.
语种	英语 ; 英语
出版者	PROFESSIONAL ENGINEERING PUBLISHING LTD ; WESTMINISTER ; 1 BIRDCAGE WALK, WESTMINISTER SW1H 9JJ, ENGLAND
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24019]
专题	清华大学
推荐引用方式 GB/T 7714	Wu, J.,Wang, J.-S.,Wang, L.-P.,et al. Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy[J],2010, 2010.
APA	Wu, J.,Wang, J.-S.,Wang, L.-P.,&Li, T.-M..(2010).Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy..
MLA	Wu, J.,et al."Dexterity and stiffness analysis of a three-degree-of-freedom planar parallel manipulator with actuation redundancy".(2010).

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