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Stiffness Analysis for a Tripod Leg Mechanism
並列摘要
This paper analyzes the stiffness characteristics of a proposed tripod leg mechanism which is built as based on a 3-UPU parallel manipulator. The description of the mechanical design and kinematic analysis of the leg mechanism are briefly presented. By considering the compliances subject to actuators, the stiffness matrix is derived intuitively as based on the Jacobian matrix of the manipulator. The stiffness performance is evaluated by utilizing the extreme stiffness values over the usable work space, which will be helpful for the gait design of a biped locomotor. Furthermore, the influences of architectural parameters on stiffness properties are presented, which will be useful for the mechanical design of the tripod leg mechanism.
被引用紀錄
翁貴貞（2014）。台灣跨縣市人口遷徙之研究－與五都升格和財政結構之關係〔碩士論文，國立清華大學〕。華藝線上圖書館。https://doi.org/10.6843/NTHU.2014.00462
Chang, K. M. (2015). 仿生型水下滑翔機之設計 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2015.00016
Tung, J. M. (2008). 裝載前後浮力引擎水下滑翔機之設計與製造 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2008.00016
莊志新（2011）。大客車結構之振動分析與架裝車體結構之改良〔碩士論文，國立臺北科技大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0006-2107201102025600
延伸閱讀
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