TY - GEN

T1 - Stiffness evaluation of machines and robots

T2 - 2008 9th Biennial Conference on Engineering Systems Design and Analysis

AU - Portman, Vladimir

PY - 2009/9/21

Y1 - 2009/9/21

N2 - New stiffness performance indices using the collinear stiffness value (CSV) associated with a given configuration in a working space of the machine are proposed. The CSV and its partial cases - a translational stiffness value (TSV), a rotational stiffness value (RSV), and a screw stiffness value (SSV) - have a simple and direct physical interpretation: the CSV is non-negative in singular configuration and positive in regular configurations. As a result, the minimal values of the CSV can be successfully applied to stiffness-related evaluations for all (i.e., both singular and regular) configurations. Similar to a determinant, the minimal CSV equals zero if and only if its associated configuration is singular. In regular configurations, the minimal CSV is applied to evaluation of local stiffness for a given configuration and global stiffness in the working space, wherein the established stiffness limitations are satisfied. Procedures for evaluation of the minimal CSV are developed. As an example, the absolute CSV of the Gough-Stewart platform and its relative stiffness in comparison with serial-type mechanisms are simulated. The proposed approach can be used as an effective design tool for evaluation and limitation of stiffness of machines and robots.

AB - New stiffness performance indices using the collinear stiffness value (CSV) associated with a given configuration in a working space of the machine are proposed. The CSV and its partial cases - a translational stiffness value (TSV), a rotational stiffness value (RSV), and a screw stiffness value (SSV) - have a simple and direct physical interpretation: the CSV is non-negative in singular configuration and positive in regular configurations. As a result, the minimal values of the CSV can be successfully applied to stiffness-related evaluations for all (i.e., both singular and regular) configurations. Similar to a determinant, the minimal CSV equals zero if and only if its associated configuration is singular. In regular configurations, the minimal CSV is applied to evaluation of local stiffness for a given configuration and global stiffness in the working space, wherein the established stiffness limitations are satisfied. Procedures for evaluation of the minimal CSV are developed. As an example, the absolute CSV of the Gough-Stewart platform and its relative stiffness in comparison with serial-type mechanisms are simulated. The proposed approach can be used as an effective design tool for evaluation and limitation of stiffness of machines and robots.

UR - http://www.scopus.com/inward/record.url?scp=70349116912&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:70349116912

SN - 9780791848364

T3 - 2008 Proceedings of the 9th Biennial Conference on Engineering Systems Design and Analysis

SP - 143

EP - 150

BT - 2008 Proceedings of the 9th Biennial Conference on Engineering Systems Design and Analysis

Y2 - 7 July 2008 through 9 July 2008

ER -