... parts of motion control. Therefore, this paper focuses on establishing the kinematics, dynamics, and stiffness models for an Exechon-like hybrid robot, which are then used for error compensation and velocity planning to improve the robot’s motion performance. First, the kinematic model is derived...

.... As the main flexible component in SEA, the accurate modeling of the stiffness of the elastic element is essential. However, the existing stiffness models based on classical Euler–Bernoulli beam theory contain large errors with the actual situation, which increases the difficulty of design. In this paper...

...Shuangshuang Zhang; Linsong Zhang This paper presents a general equivalent approach to solve the stiffness modeling or load-deformation problem of non-redundant parallel mechanisms. Based on the principal axes decomposition of structure compliance matrices, an equivalent six-degrees-of-freedom (6...

... enhancement of a previously invented 2UPR&1RPS&1RPU RAPM. For this purpose, three critical issues are clarified, i.e., establishing a sufficient accurate stiffness model, constructing a reasonable index frame for evaluating rigidity performance, and quantifying the effect of redundancy on the rigidity...