Stiffness Analysis and Measurement Method for a 3-DOF Cable-Driven Joint Module

摘要：

　　A modular cable-driven manipulator that consists of a number of cable-driven joint modules can produce intrinsically-safe motions due to its light-weight structure.In this paper,a stiffness analysis and measurement method is proposed for a 3-DOF six-cable cable-driven spherical joint module (CSJM) based on the group theory and differential geometry.A measurement simulation is carried out to validate the presented algorithms.It is shown that the stiffness matrix obtained from measurement simulation are equivalent to the theoretical stiffness matrix.

作者: Kaisheng Yang Guilin Yang

作者单位: Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, N Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, N

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 1167-1181

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）