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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

Information

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