Stiffness Analysis and Experimental Validation for the 6-Dof Jaw Opening-Closing Training Parallel Robot WY-5 (Waseda Yamanashi 5)
Giuseppe Carbone*, Hideaki Takanobu**,***,
Marco Ceccarelli*, Atsuo Takanishi***,
Kayoko Ohtsuki****, Masatoshi Ohnishi****,
and Akihisa Okino*****
*LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43 - 03043 Cassino (Fr), Italy
**Department of Mechanical Systems Engineering, Kogakuin University, 1-24-2 Nishi-shinjuku, Shinjuku-ku, Tokyo 163-8677, Japan
***Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo 169-8555, Japan
****Yamanashi University, 1110 Shimokato, Tamaho-cho, Nakakoma-gun, Yamanashi 409-3898, Japan
*****Okino Industries, Ltd., 3-11-4 Iwadokita, Komae-shi, Tokyo 201, Japan
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.
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