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Stiffness Analysis of Clavel’s DELTA Robot

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Intelligent Robotics and Applications (ICIRA 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7101))

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Abstract

This work deals with the structural stiffness properties of the spatial 3-DOF DELTA robot. Firstly, the kinematic model is presented. Based on the kinematic model a static model is derived. The static model is able to map all relevant constraint forces of the parallel structure. Based on this relationship the stiffness matrix of the DELTA robot can be deduced. As a result, the overall stiffness properties and the different stiffness contributors are presented for an exemplary structure.

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References

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Author information

Authors and Affiliations

  1. Department of Mechanism Theory and Machine Dynamics, RWTH Aachen, Eilfschornsteinstr. 18, 52062, Aachen, Germany

    Martin Wahle & Burkhard Corves

Authors
  1. Martin Wahle
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  2. Burkhard Corves
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Editor information

Editors and Affiliations

  1. Zentrum für Lern- und Wissensmanagement, Lehrstuhl für Informationsmanagement im Maschinenbau, RWTH Aachen, Dennewartstraße 27, 52068, Aachen, Germany

    Sabina Jeschke

  2. School of Creative Technologies, Intelligents Systems and Biomedical Robotics Group, University of Portsmouth, Eldon Building, Winston Churchill Avenue, PO1 3QL, Portsmouth, UK

    Honghai Liu

  3. ZLW/IMA, RWTH Aachen, Dennewartstraße 27, 52068, Aachen, Germany

    Daniel Schilberg

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© 2011 Springer-Verlag Berlin Heidelberg

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Wahle, M., Corves, B. (2011). Stiffness Analysis of Clavel’s DELTA Robot. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_25

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  • DOI: https://doi.org/10.1007/978-3-642-25486-4_25

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25485-7

  • Online ISBN: 978-3-642-25486-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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