RESEARCH PAPERS: Offshore Mechanics

Stiffness Study of a Parallel Link Robot Crane for Shipbuilding Applications

[+] Author and Article Information
N. G. Dagalakis, J. S. Albus, B.-L. Wang, J. Unger, J. D. Lee

Robot Systems Division, National Bureau of Standards, Gaithersburg, MD 20899

J. Offshore Mech. Arct. Eng 111(3), 183-193 (Aug 01, 1989) (11 pages) doi:10.1115/1.3257146 History: Received January 01, 1987; Revised September 12, 1988; Online October 30, 2009


This describes the first phase of an effort to develop a robot crane for shipbuilding applications. The focus of this phase is on the study of the stiffness characteristics of this robot as a function of its geometry payload and height. A brief description of the design of the main part of the robot crane consisting of a six-wire parallel link manipulator is given. The stiffness of the manipulator to side loads and moments was studied. The nonlinear and linearized mathematical model of the manipulator stiffness matrix is derived. Stiffness measurement tests were conducted using a small size laboratory model. The results of these tests for various external loads, heights, and payloads are given. Computer simulation and theoretical results are also discussed.

Copyright © 1989 by ASME
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