Parametric Stiffness Analysis of the Orhtoglide

Félix Majou (1, 2) , 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 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is symbolically computed. This allows one to easily study the influence of the geometric design parameters on the matrix elements. Critical links are displayed. Cutting forces are then modeled so that static displacements of the Orthoglide tool during slot milling are symbolically computed. Influence of the geometric design parameters on the static displacements is checked as well. Other machining operations can be modeled. This parametric stiffness analysis can be applied to any parallel manipulator for which stiffness is a critical issue.

Mots clés: Parallel Kinematic Machine; Stiffness; Parametric analysis; Orthoglide

Domaines: Robotique [cs.RO]

Félix Majou, Clément Gosselin, Philippe Wenger, Damien Chablat. Parametric Stiffness Analysis of the Orhtoglide. International Symposium on Robotics, Mar 2004, Paris, France. pp.1-7. ⟨hal-00168400⟩