521 Stiffness Indices for the Performance Evaluation of H4 Parallel Robot

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概要

• 論文の詳細を見る

• Stiffness is the one of the prime and important aspects in determining the quality of design of parallel robots. Evaluating parallel robot based on stiffness will enable the designer to operate it in a given workspace with assured dexterity. Besides stiffness, condition number is also closely related to optimum design of parallel robot. Further, both stiffness and condition number will go to zero under Type-II singularity of parallel robot. Against this backdrop, this paper addresses, the development of objective function in terms of condition number as a function of stiffness matrix of H4 parallel robot. The proposed method will ensure that robot would exhibit equal and same quantity of stiffness in all directions of the workspace i,e. structural isotropy.

• 一般社団法人日本機械学会の論文
• 2004-03-13

著者

• Konno Atsushi

  Tohoku Univ. Sendai Jpn

• Konno A

  Tohoku University

• KADlRIKOTA Rajesh

  Tohoku University

• UCHIYAMA Masaru

  Tohoku University

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• 521 Stiffness Indices for the Performance Evaluation of H4 Parallel Robot

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