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

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

Document Type: Research Article

Publication date: March 1, 2012

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