Chakarov, Dimitar Study of the antagonistic stiffness of parallel manipulators with actuation redundancy. (English) Zbl 1143.70307 Mech. Mach. Theory 39, No. 6, 583-601 (2004). Summary: Parallel manipulators, consisting of a basic antropomorph kinematic chain and parallel chains with redundant in number linear actuators are investigated. Antagonistic stiffness, as a result of the actuation redundancy is also studied. A kinematic model of parallel manipulators and a stiffness model are created. Conditions for specification of the antagonistic stiffness are considered and the possibilities for generation of a desired stiffness matrix are investigated. Approaches for specification of a desired compliance along a given direction in the operation space and for specification of the biggest compliance in the operation space are proposed. A scheme for stiffness control of manipulators with actuation redundancy is developed on the basis of the above cited approaches. Computer experiments are performed and a graphic interpretation of the results is presented. Cited in 9 Documents MSC: 70B15 Kinematics of mechanisms and robots 70E60 Robot dynamics and control of rigid bodies PDFBibTeX XMLCite \textit{D. Chakarov}, Mech. Mach. Theory 39, No. 6, 583--601 (2004; Zbl 1143.70307) Full Text: DOI