A compact modified Delta parallel mechanism design based on a stiffness analysis

Woo-Keun Yoon Woo-Keun Yoon,Y Tsumaki,T Suehiro,M Uchiyama

doi:10.1109/aim.2003.1225524

A compact modified Delta parallel mechanism design based on a stiffness analysis

Woo-Keun Yoon Woo-Keun Yoon, Y Tsumaki + Show 2 more

https://doi.org/10.1109/aim.2003.1225524

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Publication Date: Jul 20, 2003

Citations: 3

Affiliation: National Institute of Advanced Industrial Science and Technology, Hirosaki University, Tohoku University

#Stiffness Analysis Method #Parallel Mechanism + Show 8 more

Abstract
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Abstract

In our previous work, we developed a compact 6-DOF haptic interface, which contains a modified Delta parallel-link positioning mechanism. This modified Delta mechanism is designed as a compact desktop type and composed of many miniature bearings and small parts. Therefore, the stiffness of the modified Delta mechanism is strongly affected elastic deformations of these components. To design a high stiffness parallel mechanism which is well-balanced for all directions and rotations, we should analyze the stiffness of this parallel mechanism. In our previous paper, we proposed a method to analyze structural stiffness of a parallel mechanism. In this paper, we design a modified Delta mechanism, with a well-balanced stiffness, based on our stiffness analysis method.

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