Cart (Loading....) | Create Account
Close category search window
 

Analysis for a planar 3 degree-of-freedom parallel mechanism with actively adjustable stiffness characteristics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Whee-Kuk Kim ; Dept. of Control & Instrumentation Eng., Korea Univ., Seoul, South Korea ; Jun-Yong Lee ; Byung Ju Yi

A planar three degree-of-freedom parallel manipulator has been extensively studied as the fundamental example of parallel manipulators. It has been proven from the authors' previous work (1996) that when three identical joint compliances are attached to the three base joints of the mechanism in its symmetric configurations, this mechanism possesses a completely decoupled compliance characteristic at the object space, which is the important operational requirement for remote centre of compliance device. In this paper, we concern about the adjustability of the output compliance matrix of this mechanism by employing redundancy on either joint compliances or on actuators. Two approaches are suggested to achieve this purpose: 1) the stiffness modulation is achieved through purely, redundant passive springs or decoupled feedback stiffness gains; and 2) the stiffness modulation is achieved through antagonistic actuation of the system actuators. General stiffness models are derived for both cases. Based on these stiffness models, stiffness modulation algorithms are formulated

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:3 )

Date of Conference:

20-25 Apr 1997

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.