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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)
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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

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References

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