2012•Unpublished venueRequires access

Stiffness Analysis and Comparison of 3-PPR Planar Parallel Manipulators With Actuation Compliance

Guanglei Wu, Shaoping Bai, J. Kepler

Abstract

In this paper, the stiffness of 3-PPR planar parallel manipulator (PPM) is analyzed with the consideration of nonlinear actuation compliance. The characteristics of the stiffness matrix pertaining to the planar parallel manipulators are analyzed and discussed. Graphic representation of the stiffness characteristics by means of translational and rotational stiffness mapping is developed. The developed method is illustrated with an unsymmetrical 3-PPR PPM, being compared with its structure-symmetrical counterpart.

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Key concepts: Stiffness, Planar, Nonlinear system, Direct stiffness method, Stiffness matrix, Parallel manipulator, Compliance (psychology), Control theory (sociology)