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A stiffness analysis for a hybrid parallel-serial manipulator

Published online by Cambridge University Press:  19 August 2004

Giuseppe Carbone  and
Marco Ceccarelli
Giuseppe Carbone
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr) (Italy) E-mail: carbone@unicas.it; ceccarelli@unicas.it
Marco Ceccarelli
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr) (Italy) E-mail: carbone@unicas.it; ceccarelli@unicas.it
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Abstract

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In this paper a hybrid parallel-serial manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics as a specific example of a general procedure for analyzing stiffness of parallel-serial manipulators. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness and design parameters of the mechanical design. A formulation is proposed for a stiffness performance index by using the obtained stiffness matrix. A numerical investigation has been carried out on the effects of design parameters and fundamental results are discussed in the paper.

Keywords

Stiffness analysisHybrid manipulatorDesign parameters
Type
Research Article
Information
Robotica , Volume 22 , Issue 5 , October 2004 , pp. 567 - 576
Copyright
© 2004 Cambridge University Press