Cartesian Stiffness Matrix Mapping of a Translational Parallel Mechanism with Elastic Joints

Abstract

This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimensional indices are proposed to measure the response of the manipulator in terms of stiffness.

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Cite this paper

@inproceedings{Ruggiu2012CartesianSM, title={Cartesian Stiffness Matrix Mapping of a Translational Parallel Mechanism with Elastic Joints}, author={Maurizio Ruggiu}, year={2012} }