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Cartesian Stiffness Matrix Mapping of a Translational Parallel Mechanism with Elastic Joints
2012
International Journal of Advanced Robotic Systems
This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto-static adimensional indices are proposed to measure the response of the manipulator in terms of stiffness.
doi:10.5772/52145
fatcat:ktxy47xekvh2habid7rcndmny4