STATIC ANALYSIS AND STIFFNESS OF A 2-DOF PARALLEL DEVICE FOR ORIENTATION

Tiberiu-Pavel ITUL, Bogdan GALDAU, Doina Liana PISLA

Abstract


In the paper is studied a simple orientation mechanism with two degrees of freedom (DOF). The kinematics, workspace and this singularity of the mechanism are presented. In order to determine the generalized static forces from the legs, beside oriented panel weight, the static pressure of the wind considered perpendicular to the plane of the mobile platform has been taken into consideration. Based on the kinematic model, two performance indices have been evaluated and graphically represented regarding the control and stiffness of the mechanism: global conditioning index and global stiffness index.

Key words: Parallel device, Orientation, Kinematics, Workspace, Stiffness

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References


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