Stiffness Analysis and Experimental Validation for the 6-Dof Jaw Opening-Closing Training Parallel Robot WY-5 (Waseda Yamanashi 5)-Reference-Cited by-同舟云学术

Stiffness Analysis and Experimental Validation for the 6-Dof Jaw Opening-Closing Training Parallel Robot WY-5 (Waseda Yamanashi 5)

Published:2004-12-20 Issue:6 Volume:16 Page:570-578
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Carbone Giuseppe, ,Takanobu Hideaki,Ceccarelli Marco,Takanishi Atsuo,Ohtsuki Kayoko,Ohnishi Masatoshi,Okino Akihisa, , , ,

Abstract

In this paper a mouth opening and closing training robot named as WY-5 (Waseda Yamanashi version 5) is analyzed in terms of stiffness characteristics. Basic models and a formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is carried out as based on the proposed formulation. Experimental tests are carried out in order to validate the proposed model that can be used for design/control purposes in order to improve the performance of WY-5.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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