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Isoelastic behavior of parallel robots
Published online by Cambridge University Press: 09 March 2009
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.
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- Copyright © Cambridge University Press 1989
References
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