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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Isotropy Analysis of a Stiffness Decoupling 8/4-4 Parallel Force Sensing Mechanism
verfasst von : Jiantao Yao, Danlin Wang, Xueyan Lin, Hong Zhang, Yundou Xu, Yongsheng Zhao
Erschienen in: Intelligent Robotics and Applications
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Abstract
A stiffness decoupling 8/4-4 parallel force sensing mechanism (PFSM) is presented. Its mathematic model is established with screw theory. The force mapping relation is studied and the stiffness matrix is found to be a diagonal matrix, which proves the stiffness decoupling characteristics of the mechanism. According to the concept of fully isotropy, the isotropy conditions are analyzed, the parameters which meet fully isotropy are given. The 8/4-4 PFSM’s configuration under isotropy parameters is analyzed. Based on this configuration, an 8/4-4 mechanism cluster which meets the fully isotropy is presented. The cluster’s configuration is classified and induced into four main configurations according to the different parameter conditions.