This paper presents a stiffness mapping of a mechanism having two planar compliant parallel mechanisms in a serial arrangement. The stiffness matrix of the mechanism is obtained by taking a derivative of the static equilibrium equations. A derivative of spring force connecting two moving bodies is derived and it is applied to obtain the stiffness matrix of the mechanism. A numerical example is presented.
CITATION STYLE
Jung, H. K., Crane, C. D., & Roberts, R. G. (2006). Stiffness mapping of planar compliant parallel mechanisms in a serial arrangement. In Advances in Robot Kinematics (pp. 85–94). Springer Netherlands. https://doi.org/10.1007/978-1-4020-4941-5_10
Mendeley helps you to discover research relevant for your work.