2009•Applied Mechanics and MaterialsOpen access

Stiffness Analysis of 3-RPR Planar Parallel Mechanism to the Stiffness Control

Shu Jun Li, Clément Gosselin

Abstract

The analytical stiffness equations of the 3-RPR planar parallel mechanism are derived in this paper based on the Conservative Congruence Transformation (CCT) stiffness matrix proposed in [1-3]. Stiffness maps of the 3-RPR mechanism are plotted in order to show the behaviour of the stiffness with and without external forces. The stiffness characteristics of the mechanism are analyzed and discussed in details. Numerical examples show that the stiffness in x and in y are well balanced, while the stiffness in tends to be lower.

About this research paper

What this paper is about

Why it matters

OpenAlex reports 6 citations for this work. Citation counts describe recorded attention and do not establish research quality.

Key contribution

A contribution statement is not available in the OpenAlex record.

Method / approach

Method details are not available in the OpenAlex metadata.

Main findings

Findings are not separately available in the OpenAlex metadata.

Limitations

Limitations are not available in the OpenAlex metadata.

Applications

Application details are not available in the OpenAlex metadata.

Available abstract

Key concepts: Stiffness, Direct stiffness method, Planar, Tangent stiffness matrix, Mechanism (biology), Stiffness matrix, Structural engineering, Transformation (genetics)