Abstract
Stiffness features of the parallel kinematics machines (PKM) are considered. To overcome the difficulties caused by heterogeneous units of measurement of the Cartesian stiffness matrix entries, a new performance index - the collinear stiffness value (CSV) - is applied. The CSV gives natural stiffness evaluation in both regular and singular configurations. Effective computation procedures for a search for the minimum-maximum CSV are developed. The minimum CSV is applied to construct a PKM workspace satisfying preliminary given stiffness limits and compute a virtual protective barrier, keeping the PKM mechanism from approaching the vicinity of singular configurations. As an application example, the CSV-based local and global stiffness features of the Gough-Stewart platform mechanism are simulated, investigated, and visualized.
| Original language | English |
|---|---|
| Pages (from-to) | 67-86 |
| Number of pages | 20 |
| Journal | Mechanism and Machine Theory |
| Volume | 49 |
| DOIs | |
| State | Published - 1 Mar 2012 |
Keywords
- Gough-Stewart platform
- Parallel kinematics
- Stiffness
- Stiffness evaluation
ASJC Scopus subject areas
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications