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Stiffness Analysis and Design of a Compact Modified Delta Parallel Mechanism

Published online by Cambridge University Press:  26 November 2004

Woo-Keun Yoon ,
Takashi Suehiro ,
Yuichi Tsumaki  and
Masaru Uchiyama
Woo-Keun Yoon
Affiliation:
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan).
Takashi Suehiro
Affiliation:
Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) 1-1-1 UMEZONO, TSUKUBA, 305-8568 (Japan).
Yuichi Tsumaki
Affiliation:
Department of Intelligent Machines and System Engineering, Hirosaki University (Japan).
Masaru Uchiyama
Affiliation:
Department of Aeronautic and Space Engineering, Tohoku University (Japan).
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Abstract

In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze its structural stiffness, including elastic deformations of both parts and bearings. Then we propose a simple method to analyze structural stiffness in a parallel mechanism using bearings. Our method is based on standard concepts such as static elastic deformations. However, the important aspect of our method is the manner in which we combine these concepts and how we obtain the value of the elasticity coefficient of a rotation axis in a bearing. Finally, we design a modified Delta mechanism, with a well-balanced stiffness, based on our method of stiffness analysis.

Keywords

DesignParallel mechanismModified Delta mechanismStiffness analysisBearing.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 463 - 475
Copyright
2004 Cambridge University Press

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