Parametric stiffness analysis of the Orthoglide

Félix Majou (1) , Clément Gosselin (2) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 ROBOTICS LABORATORY - Robotics Laboratory

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design parameters and to quickly identify the critical link parameters. Our symbolic model is used to display the stiffest areas of the workspace for a specific machining task. Our approach can be applied to any parallel manipulator for which stiffness is a critical issue.

Mots clés: Orhtoglide; Parametric analysis; Stiffness; PKM design; Orhtoglide.

Domaines: Robotique [cs.RO]

Félix Majou, Clément Gosselin, Philippe Wenger, Damien Chablat. Parametric stiffness analysis of the Orthoglide. Mechanism and Machine Theory, 2007, 42 (3), pp.296-311. ⟨hal-00168332⟩