The paper presents an advanced stiffness modeling technique for perfect and non-perfect
parallel manipulators under internal and external loadings. Particular attention is paid to the …

This paper presents an alternative decomposition of spatial stiffness matrices based on the
concept of compliant axes. According to the congruence transformation of spatial stiffness …

This paper aims at introducing new performance indices for robotic manipulators in order to
evaluate the robot stiffness at the design embodiment stage. In this regard, the calculation of …

It is possible to realize the desired compliance characteristics of a robot in a form of a
passive compliance device, which demands the synthesis technique of a stiffness matrix by …

Force control is important in robotics research for safe operation in the interaction between a
manipulator and a human operator. The elasticity center is a very important characteristic for …

A novel analysis is proposed for the vibration of an elastically suspended rigid body. This
new analysis is based on recent discoveries about the structure of stiffness and inertia. For a …

In this work the problem of designing systems of springs to achieve a desired stiffness matrix
is considered. Only planar configurations are studied. After a brief section outlining the …

摘要机构的末端刚度特性对制造装备的定位精度, 顺应性和动态特性等有十分重要的影响,
为了消除机构奇异位形, 使机构具有更大的承载能力, 更高的刚度和精度, 更好的动态特性等 …

Following the conceptual design of compliant mechanisms in Chap. 5, this chapter further
looks into the stiffness properties of the developed compliant parallel mechanisms. Two …

This paper investigates both stiffness analysis and synthesis problems using a physical
prototype of one SPS orthogonal parallel mechanism. This parallel mechanism is supported …