Jacobian and Stiffness Analysis of a Novel Six-DOF Parallel Minimanipulator

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dc.contributor.authorTahmasebi, F.en_US
dc.contributor.authorTsai, L-W.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:49:55Z
dc.date.available2007-05-23T09:49:55Z
dc.date.issued1992en_US
dc.description.abstractThe Jacobian and stiffness matrices of a novel, six-DOF parallel minimanipulator are derived. The minimanipulator consists of three inextensible limbs, each of which is driven by a five-bar linkage to improve its positional resolution and stiffness. All of the minimanipulator actuators are base-mounted. It is shown that, at the central configuration of the minimanipulator workspace, the stiffness matrix can be diagonalized (decoupled). It is also shown that the minimanipulator can be designed to posses direct or torsional isotropic stiffness properties. Moreover, velocity relationships for the minimanipulator drivers are derived and guidelines for obtaining high stiffness are established.en_US
dc.format.extent723803 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5190
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1992-8en_US
dc.subjectkinematicsen_US
dc.subjectroboticsen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleJacobian and Stiffness Analysis of a Novel Six-DOF Parallel Minimanipulatoren_US
dc.typeTechnical Reporten_US

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