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Romansy 16 pp 113-120 | Cite as

Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism

  • Józef Knapczyk
  • Michał Maniowski
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

The paper describes a novel algorithm for estimation of the stiffness parameters of a 6DOF parallel mechanism with a known topology and geometry. The mechanism is composed of a platform guided by six or more legs with Spherical-Prismatic-Universal joints. A substitute compliance of each leg is modelled by linear springs in the P-joints. Such structure has a broad application in robotics, machining tools, and car suspension systems. The stiffness parameters of the legs are considered as unknown or hard to measure directly. These parameters are estimated using as an input data the spatial displacements of the platform from an initial pose, measured under specified quasi-static loads. The presented method is exemplified on a five-rod wheel guiding mechanism of an actual passenger car. Results of the mechanism measurements carried out on a test stand are used. Five static rates of elastomeric bushings installed in the mechanism rods are determined taking into account the influence of the measurement noise.

Keywords

Machine Tool Stiffness Parameter Spatial Displacement Dimensional Synthesis Spring Rate 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Józef Knapczyk
    • 1
  • Michał Maniowski
    • 1
  1. 1.Institute of Automobiles and Internal Combustion EnginesCracow University of TechnologyPoland

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