A complete stiffness analysis of a parallel manipulator considers the structural compliance of all elements, both in designed degrees-of-freedom (DoFs) and constrained DoFs, and also includes the effect of preloading. This paper presents the experimental validation of a Jacobian-based stiffness analysis method for parallel manipulators with nonredundant legs, which considers all those aspects, and which can be applied to limited-DoF parallel manipulators. The experimental validation was performed by comparing differential wrench measurements with predictions based on stiffness analyses with increasing levels of detail. For this purpose, two passive parallel mechanisms were designed, namely, a planar 3DoF mechanism and a spatial 1DoF mechanism. For these mechanisms, it was shown that a stiffness analysis becomes more accurate if preloading and structural compliance are considered.
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August 2016
Research-Article
Experimental Validation of Jacobian-Based Stiffness Analysis Method for Parallel Manipulators With Nonredundant Legs
Antonius G. L. Hoevenaars,
Antonius G. L. Hoevenaars
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: a.g.l.hoevenaars@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: a.g.l.hoevenaars@tudelft.nl
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Clément Gosselin,
Clément Gosselin
Professor
Department of Mechanical Engineering,
Laval University,
1065 Avenue de la médecine,
Québec, QC G1V 0A6, Canada
Department of Mechanical Engineering,
Laval University,
1065 Avenue de la médecine,
Québec, QC G1V 0A6, Canada
Search for other works by this author on:
Patrice Lambert,
Patrice Lambert
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Search for other works by this author on:
Just L. Herder
Just L. Herder
Professor
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Search for other works by this author on:
Antonius G. L. Hoevenaars
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: a.g.l.hoevenaars@tudelft.nl
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
e-mail: a.g.l.hoevenaars@tudelft.nl
Clément Gosselin
Professor
Department of Mechanical Engineering,
Laval University,
1065 Avenue de la médecine,
Québec, QC G1V 0A6, Canada
Department of Mechanical Engineering,
Laval University,
1065 Avenue de la médecine,
Québec, QC G1V 0A6, Canada
Patrice Lambert
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Just L. Herder
Professor
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Department of Precision and
Microsystems Engineering,
Delft University of Technology,
Mekelweg 2,
Delft 2628 CD, The Netherlands
Manuscript received June 30, 2015; final manuscript received November 24, 2015; published online March 7, 2016. Assoc. Editor: James Schmiedeler.
J. Mechanisms Robotics. Aug 2016, 8(4): 041002 (10 pages)
Published Online: March 7, 2016
Article history
Received:
June 30, 2015
Revised:
November 24, 2015
Citation
Hoevenaars, A. G. L., Gosselin, C., Lambert, P., and Herder, J. L. (March 7, 2016). "Experimental Validation of Jacobian-Based Stiffness Analysis Method for Parallel Manipulators With Nonredundant Legs." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041002. https://doi.org/10.1115/1.4032204
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