Abstract
This work deals with the structural stiffness properties of the spatial 3-DOF DELTA robot. Firstly, the kinematic model is presented. Based on the kinematic model a static model is derived. The static model is able to map all relevant constraint forces of the parallel structure. Based on this relationship the stiffness matrix of the DELTA robot can be deduced. As a result, the overall stiffness properties and the different stiffness contributors are presented for an exemplary structure. © 2011 Springer-Verlag.
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CITATION STYLE
Wahle, M., & Corves, B. (2011). Stiffness analysis of Clavel’s DELTA robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7101 LNAI, pp. 240–249). https://doi.org/10.1007/978-3-642-25486-4_25
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