NDLI: A compact modified Delta parallel mechanism design based on a stiffness analysis

Content Provider	IEEE Xplore Digital Library
Author	Woo-Keun Yoon Suehiro, T. Tsumaki, Y. Uchiyama, M.
Copyright Year	2003
Description	Author affiliation: Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Xxx, Japan (Woo-Keun Yoon; Suehiro, T.)
Abstract	In our previous work, we developed a compact 6-DOF haptic interface, which contains a modified Delta parallel-link positioning mechanism. This modified Delta mechanism is designed as a compact desktop type and composed of many miniature bearings and small parts. Therefore, the stiffness of the modified Delta mechanism is strongly affected elastic deformations of these components. To design a high stiffness parallel mechanism which is well-balanced for all directions and rotations, we should analyze the stiffness of this parallel mechanism. In our previous paper, we proposed a method to analyze structural stiffness of a parallel mechanism. In this paper, we design a modified Delta mechanism, with a well-balanced stiffness, based on our stiffness analysis method.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	1262
Ending Page	1267
File Size	569136
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225524
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Intelligent systems Machine intelligence Space technology Motion analysis Aerospace industry Systems engineering and theory Guidelines Arm
Content Type	Text
Resource Type	Article

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