Abstract
Starting from the definition of a stiffness matrix, the authors present the Cartesian stiffness matrix of parallel compliant mechanisms. The proposed formulation is more general than any other stiffness matrix found in the literature since it can take into account the stiffness of the passive joints and remains valid for large displacements. Then, the conservative property, the validity,and the positive definiteness of this matrix are discussed.
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Quennouelle, C., Gosselin, C.M. (2008). Stiffness Matrix of Compliant Parallel Mechanisms. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_35
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_35
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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