Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-27T08:12:09.285Z Has data issue: false hasContentIssue false
  • English
  • Français

Isoelastic behavior of parallel robots

Published online by Cambridge University Press:  09 March 2009

F. Artigue ,
M. Y. Amirat  and
J. Pontnau
F. Artigue
Affiliation:
LIMRO; 9, Avenue de la division Leclerc, 94230 Cachan (France)
M. Y. Amirat
Affiliation:
LIMRO; 9, Avenue de la division Leclerc, 94230 Cachan (France)
J. Pontnau
Affiliation:
LIMRO; 9, Avenue de la division Leclerc, 94230 Cachan (France)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a particular architecture of a parallel robot which is characterized by a diagonal stiffness matrix. This result suggests the use of a parallel robot in the final phase of insertion as a passive compliance device. The stiffness rate of this device is controlled by the gain of the feedback loop. As the correction of small angular misalignments due to contact forces do not generate lateral errors and vice versa, we have the equivalent of an isoelastic swivel.

Keywords

Parallel robotIsoelastic behaviourDiagonal stiffnessCompliance device
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 323 - 325
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J.P., “Contribution à la formalisation de la commande par retours d'efforts. Application à la commande de robots parallèles” PhD thesis, Université Paris 6 (18 06, 1986).Google Scholar
2.Merlet, J.P., “Parallel manipulators Part I: Theory, Design, Kinematics, Dynamics and control” Rapport de recherche INRIA (1987).Google Scholar
3.Artigue, F. “Analyse cinématique des systèmes de reposionnements et de mesure tridimensionnels pour l'assemblage automatique” Thèse de doctorat d'etat de l'université Paris 6. (17 12, 1984).Google Scholar
4.Paul, R., Manipulators, Mathematics, Programming and Control (MIT Press, Cambridge, 1981).Google Scholar
5.El Maraghy, H.A. & Johns, B. “An investigation into the compliance of SCARA robots, Part I: Analytical model” ASME J. Dynamic Systems, Measurement, and Control 110, No. 1, 18–22 (03, 1988).CrossRefGoogle Scholar
6.Salisbury, J.K., “Active stiffness control of a manipulator in cartesian coordinates” IEEE Conf. On Decision and Control, Albuquerque,New Mexico95–100 (10–12 12, 1980).Google Scholar
7.Artigue, F. & Pontnau, J. “Methodes et robots pour l'assemblage adaptatif” SEE. Congrès de Lorraine 87 “Automatisation des industries mécaniques et métallurgiques” 111–115 (17–18 06, 1987).Google Scholar
8.Pontnau, J. & Artigue, F. “Montage d'une serrure dans un véhicule automobile” Congrès de l'AFCET, Grenoble 15–25 (10–12 10, 1987).Google Scholar