Skip to main content

Overall Stiffness Optimization of 3-UCR Parallel Robot Leg Based on Conservative Congruence Transformation Theory

Buy Article:

$113.00 plus tax (Refund Policy)

Abstract:

The mechanical position-stance kinematic model of 3-UCR parallel robot leg expressed by the Rodrigues Parameters was established. Considering geometrical deformation of the parallel manipulator causing by outside forces, the conservative stiffness matrix was deduced based on the conservative congruence transformation. By the homogeneous analysis of kinematic model with Rodrigues parameters, the element units of stiffness Jacobi matrix have been uniformed. The average of eigenvalue extremum of overall stiffness in workspace was proposed for optimizing the stiffness performance. The stiffness changes with different structure scales and different spatial sections were concluded. When the structure scale is set among the range from 1.2 to 1.4, the overall performance of stiffness is better comparatively.

Keywords: 3-UCR PARALLEL ROBOT LEG; AVERAGE OF EIGENVALUE EXTREMUM; CONSERVATIVE CONGRUENCE TRANSFORMATION; RODRIGUES PARAMETERS; STIFFNESS OPTIMIZATION

Document Type: Research Article

DOI: http://dx.doi.org/10.1166/asl.2012.2019

Publication date: March 1, 2012

More about this publication?
  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
  • Editorial Board
  • Information for Authors
  • Subscribe to this Title
  • Ingenta Connect is not responsible for the content or availability of external websites
asp/asl/2012/00000006/00000001/art00030
dcterms_title,dcterms_description,pub_keyword
6
5
20
40
5

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more