Abstract
A new index for a precise calculation of a manipulator’s stiffness isotropy is introduced. The proposed index is compared with the conventionally used stiffness isotropy index by making use of the investigation on R-CUBE manipulator. The proposed index is shown to produce relatively more precise results from which a higher number of isotropic poses are detected.
Highlights
In industrial robotics, stiffness property has great importance especially when they are used in manufacturing processes
Since we focus on the translational compliant displacements of the mobile platform, we used the top left corner of the stiffness matrix as indicated in Equation (16)
While stiffness condition number for a 2 × 2 stiffness matrix regarded as the ratios of radii of a stiffness ellipse, the mathematical meaning behind is the comparison of the areas of a circle and an ellipse
Summary
Stiffness property has great importance especially when they are used in manufacturing processes. Optimal design and control processes require a mathematical stiffness model (stiffness matrix) of the manipulator to use the stiffness performance indices. These indices adopt common matrix operations such as the determinant, norm, or singular value decomposition (SVD) in defining the Machines 2019, 7, 44; doi:10.3390/machines7020044 www.mdpi.com/journal/machines. For the first three cases, if the minimum and maximum eigenvalues are the same, the stiffness isotropy index computation will output the same value. Special attention is directed towards this intermediate eigenvalue problem In this regard, a new performance index is proposed.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
