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Overview of the study on the stiffness of parallel manipula

tors
LI Yong gang1, 2 , SONG Yi min2 , FENG Zhi you3
( 1. School o f M echanical Engineer ing , T ianjin U niv ersity
of T echnolog y and Education, T ianjin 300222, China; 2. Scho ol
of M echanical Eng ineer ing, T ianjin U niver sity, T ianjin
300072, China; 3. Schoo l of M echanical Engineering , T ianjin
Ploytechnic U niversity, T ianjin 300160, China)
Abstract: Stiffness is one o f the impo rtant perfor mance in
dexes o f par allel manipulator s, w ho se studies is consider ed as a
ho t field o f par allel manipulato rs research. Resear ches on the
st iffness are ov erview ed in the f ields o f the finite element analy
sis, analytical stiffness mo del, st iffness analysis and optimal
desig n in this paper. T he dev eloping trends in the future ar e
pr eview ed in the end.
Key words: par allel manipulator ; static stiffness; finit e el
ement; fo rmulation
Fig 0 T ab 0 Ref 47

! Jix ie Sheji 9063

ings of t he 2006 IEEE Int ernat ional Conferen ce on R ob otics an d

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