Open document
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General information |
| Author |
Ceccarelli, Marco |
| Published |
Braunschweig, 1998
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| Edition |
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| Extend |
14 pages
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| ISBN |
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| Abstract |
In this paper the novel parallel manipulator, named as CaPaMan (Cassino Parallel Manipulator), is analysed in term of stiffness characteristics.
In this paper the novel parallel manipulator, named as CaPaMan (Cassino
Parallel Manipulator), is analysed in term of stiffness characteristics. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness parameters of links. The specific design of CaPaMan which has been designed and built at the Laboratory of Robotics in Cassino, Italy, helps to obtain closed-form analytical expressions. A simple formulation for stiffness performance index is proposed by using the obtained stiffness matrix. In addition a suitable simplified scheme for stiffness characterisation is proposed to obtain an easy-computable quality index which can be useful for classification and design algorithms.
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