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Stiffness Analysis and Optimization for a Bio-inspired 3-DOF Hybrid Manipulator

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Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

This paper mainly studies the maximum stiffness, minimum stiffness and global stiffness of a three-degree-of-freedom 4UPS-PU hybrid mechanism that can be used as the head section of a biologically inspired groundhog-like rescue robot. First of all, the kinematic and Jacobian matrix of the hybrid mechanism are derived; secondly, the maximum and minimum stiffness distribution trend of the 4UPS-PU manipulator are investigated and analyzed; and finally the global stiffness and its optimization are studied.

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Acknowledgments

The authors would like to thank the financial support from the Natural Sciences and Engineering Research Council of Canada (NSERC) and Canada Research Chairs program.

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Correspondence to Bin Wei .

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Zhang, D., Wei, B. (2017). Stiffness Analysis and Optimization for a Bio-inspired 3-DOF Hybrid Manipulator. In: Zhang, D., Wei, B. (eds) Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-33581-0_26

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  • DOI: https://doi.org/10.1007/978-3-319-33581-0_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33580-3

  • Online ISBN: 978-3-319-33581-0

  • eBook Packages: EngineeringEngineering (R0)

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