Stiffness Control for a 3-DOF Parallel Robot Based Machine Tools

摘要：

In this paper,,the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulator s functionality.Currently situated at the Ryerson University,the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on improving the stiffness of the clamp plates previously installed on the Parawrist robot to counteract the out of plane movement of its legs when performing mold polishing operations.Finite Element Analysis is utilized as the tool to produce the results and obtain optimization design for the constant stiffness mechanism.The overall structure of the manipulator is also improved,and improvement techniques are established.

关键词： Constant Stiffness Mechanism Parawrist Parallel Robot Finite Element Analysis Design Optimization

作者: Dan Zhang Shafiq Patel Zhen Gao Yunjian Ge

作者单位: Faculty of Engineering and Applied Science University of Ontario Institute of Technology Oshawa,ONT, Faculty of Engineering and Applied Science University of Ontario Institute of Technology Oshawa,ONT, State Key laboratory of Robot Sensing Systems Institute of Intelligent Machines,Chinese Academy of S State Key laboratory of Robot Sensing Systems Institute of Intelligent Machines,Chinese Academy of S

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 1085-1090

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）