Jacobian-based natural frequency analysis of parallel manipulators

The dynamic performance of a parallel manipulator is often limited by its natural frequencies. These frequencies are a result of the controlled actuator stiffness and the mechanical design. Typically, only the lowest natural frequencies are of interest. However, existing methods to analyze natural frequencies of parallel manipulators with...

Energy Based Error Formulation for Optimizing Compliant Joint Parallel Manipulators

The conversion of a Rigid Body Parallel Manipulator to a Compliant Joint Parallel Manipulator introduces compliance in the system. The configuration of the compliant manipulator will differ from the configuration described by the rigid-body kinematics due to the off-axis compliance, and hence off-axis deflections, of the Compliant Joints. In...