New conservative stiffness mapping for the Stewart-Gough platform

Chintien Huang; Wei Heng Hung; Imin Kao

doi:10.1109/ROBOT.2002.1013459

New conservative stiffness mapping for the Stewart-Gough platform

Chintien Huang
, Wei Heng Hung
, Imin Kao

Mechanical Engineering

National Cheng Kung University

Research output: Contribution to journal › Article › peer-review

53 Scopus citations

Abstract

This paper presents a new conservative stiffness mapping for parallel manipulators. This new formulation properly obeys the law of the conservation of energy. The change in geometry of a parallel manipulator due to compliance is captured by an additional stiffness matrix, which has so far been neglected by other researchers. Numerical simulations of the planar and spatial Stewart-Gough platforms are conducted to verify the conservative stiffness mapping.

Original language	English
Pages (from-to)	823-828
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2002.1013459
State	Published - May 2002

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10.1109/ROBOT.2002.1013459

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title = "New conservative stiffness mapping for the Stewart-Gough platform",

abstract = "This paper presents a new conservative stiffness mapping for parallel manipulators. This new formulation properly obeys the law of the conservation of energy. The change in geometry of a parallel manipulator due to compliance is captured by an additional stiffness matrix, which has so far been neglected by other researchers. Numerical simulations of the planar and spatial Stewart-Gough platforms are conducted to verify the conservative stiffness mapping.",

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AB - This paper presents a new conservative stiffness mapping for parallel manipulators. This new formulation properly obeys the law of the conservation of energy. The change in geometry of a parallel manipulator due to compliance is captured by an additional stiffness matrix, which has so far been neglected by other researchers. Numerical simulations of the planar and spatial Stewart-Gough platforms are conducted to verify the conservative stiffness mapping.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

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New conservative stiffness mapping for the Stewart-Gough platform

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