Abstract
This paper describes stiffness distribution control of elastic redundant parallel robot having a torsional coil spring on each passive revolute joint, in which the displacement and stiffness of multiple output points are determined. Direct kinematics analysis and stiffness analysis under the closed-loop condition and minimization of elastic energy are formulated, and then stiffness the distribution control scheme is derived. The simulations and experiments with a prototype with ten links and four DOF's demonstrate the effectiveness of the proposed control scheme.
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