A Numerical Evaluation of the Stiffness of CaHyMan (Cassino Hybrid Manipulator)

General information
Author	Teolis M.; Ceccarelli, Marco; Carbone, Giuseppe
Published	Seoul, 2001
Edition
Extend	10 pages
ISBN
Abstract	In this paper the novel hybrid manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics. In this paper the novel hybrid manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness parameters of the mechanical design. The specific design of CaHyMan, which has been designed and built at the Laboratory of Robotics in Cassino, Italy, helps to obtain closed-form expressions. A formulation for a stiffness performance index is proposed by using the obtained stiffness matrix. A numerical investigation has been carried out on the effects of design parameters and results are discussed in the paper.