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Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator

Published online by Cambridge University Press:  04 March 2010

Javad Enferadi  and
Alireza Akbarzadeh Tootoonchi
Javad Enferadi*
Affiliation:
Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Alireza Akbarzadeh Tootoonchi
Affiliation:
Department of Mechanical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
*
*Corresponding author. E-mail: Javadenferadi@gmail.com
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Summary

In this paper, accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator (SPM) (Enferadi and Tootoonchi, A novel spherical parallel manipulator: Forward position problem, singularity analysis and isotropy design, Robotica, vol. 27, 2009, pp. 663–676) with symmetrical geometry is investigated. At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator is obtained. The kinematics conditioning index (KCI) is evaluated on the workspace. Global conditioning index (GCI) of the manipulator is calculated and compared with another SPM. Unlike traditional stiffness analysis, the moving platform is assumed to be flexible. A continuous method is used for obtaining mathematical model of the manipulator stiffness matrix. This method is based on strain energy and Castigliano's theorem. The mathematical model is verified by finite element model. Finally, using mathematical model, kinematics stiffness index (KSI), and global stiffness index (GSI) are evaluated.

Keywords

Spherical parallel manipulatorInverse kinematicsAccuracy analysisStiffness analysisFinite element method
Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 193 - 209
Copyright
Copyright © Cambridge University Press 2010

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