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Experimental verification of antagonistic stiffness planning for a planar parallel mechanism with 2-DOF force redundancy

Published online by Cambridge University Press:  12 August 2010

Sungcheul Lee ,
Sitae Kim ,
Woosung In ,
Moonki Kim ,
Jay I. Jeong  and
Jongwon Kim
Sungcheul Lee
Affiliation:
Nano Convergence and Manufacturing Systems Research Division, Korea Institute of Machinery and Materials, Daejeon 305-343, South Korea
Sitae Kim
Affiliation:
Department of Mechanical Engineering, Korea Air Force Academy, PO Box, 335-1, Ssangsu-Ri, Namil-Myeon, Cheongwon-Gun, Chungbuk 363-849, South Korea
Woosung In
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, San 15-1, Shillim-dong, Kwanak-gu, Seoul 151-742, South Korea
Moonki Kim
Affiliation:
School of Mechanical and Aerospace Engineering, Sungkyunkwan University, 300 Cheoncheon, Suwon 440-746, South Korea
Jay I. Jeong*
Affiliation:
School of Mechanical Engineering, Kookmin University, 861-1 Jeongneung-Dong, Songbuk-Gu, Seoul 136-702, South Korea
Jongwon Kim
Affiliation:
School of Mechanical and Aerospace Engineering, Seoul National University, San 15-1, Shillim-dong, Kwanak-gu, Seoul 151-742, South Korea
*
*Corresponding Author. E-mail: jayjeong@kookmin.ac.kr.
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Summary

In this paper, an experimental verification of antagonistic stiffness planning is presented for a 2-DOF parallel mechanism with four actuators. With 2-DOF force redundancy, the magnitude and direction of the stiffness enhancement can be controlled by the additional actuators, where the internal torques of the mechanism exist on the two-dimensional null space. In the experiments, the passive and active stiffness are measured, respectively, during endowing the external force at the end-effector. Two stiffness assignment methods for a given pathway are suggested and are verified by the experiments.

Keywords

Stiffness planningInternal torqueParallel mechanism
Type
Articles
Information
Robotica , Volume 29 , Issue 4 , July 2011 , pp. 547 - 554
Copyright
Copyright © Cambridge University Press 2010

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