Improving static stiffness of the parallel manipulator using inverse singularities

摘要: The accuracy of parallel manipulators is linked to their stiffness and this has been shown be configuration dependent. Indeed, certain types singular configurations are usually avoided because the associated loss stiffness. These undesirable singularities direct singularities, in which actuators cannot balance external loads. By contrast, inverse do not cause With appropriate design, 6-R@?US manipulator can operated a workspace with no but does contain some ones. In paper, methodology for calculating matrix presented. Applied manipulator, it demonstrated that much stiffer than non-singular configurations. addition, an approach motion planning devised makes use obtain trajectories. Results show significant improvement along trajectory.