Stiffness Analysis and Optimization of a Co-axial Spherical Parallel Manipulator
This paper investigates the stiffness characteristics of spherical parallel manipulators. By virtue of singular value decomposition, the 6x6 dimensionally inhomogeneous Cartesian stiffness matrix is transformed into two homogeneous ones, i.e., the rotational and translational stiffness matrices. The...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
2014-01-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/2014/MIC-2014-1-2.pdf |