Experimental validation of Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs

Journal article (2016)
Research Group
Mechatronic Systems Design (Mechanical, Maritime and Materials Engineering) (TU Delft)
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Published Date

2016

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Precision and Microsystems Engineering

Research Group

Mechatronic Systems Design

Abstract

A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.

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