 |
|
|
|
| HAL : hal-00257728, version 1 |
| arXiv : 0802.2773 |
| Fiche détaillée |  Récupérer au format |
|
|
| ICRA IEEE Int. Conference on Robotics and Automation, Pasadena : United States (2008) |
|
|
|
|
| Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators |
|
|
Anatoly Pashkevich 1Damien Chablat 1 |
|
|
| (20/05/2008) |
|
|
|
| The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators. |
|
|
|
|
|
|
|
|
|
|
|
| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
|
|
|
CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
|
|
|
|
|
|
|
|
|
| Méthode de conception en mécanique |
|
|
|
|
| Domaine | : | Informatique/Robotique Sciences de l'ingénieur/Mécanique/Génie mécanique Physique/Mécanique/Génie mécanique |
|
|
| Orthoglide – Parallel manipulator – stiffness analysis – virtual springs – Delta manipulator |
|
|
|
| Liste des fichiers attachés à ce document : | |||||
|
|||||
|
|
|
| hal-00257728, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00257728 | |
| oai:hal.archives-ouvertes.fr:hal-00257728 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 20 Février 2008, 09:56:02 | |
| Dernière modification le : Mercredi 20 Février 2008, 10:30:21 | |
