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| HAL : hal-00326672, version 1 |
| arXiv : 0810.0830 |
| Fiche détaillée |  Récupérer au format |
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| 9th IFAC Workshop on Intelligent Manufacturing Systems, France (2008) |
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| Stiffness Analysis Of Multi-Chain Parallel Robotic Systems |
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Anatoly Pashkevich 1Damien Chablat 1 |
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| (09/10/2008) |
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| The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for singular postures and to take into account influence of the internal forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of the Orthoglide manipulator. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Domaine | : | Informatique/Robotique Sciences de l'ingénieur/Mécanique/Génie mécanique Physique/Mécanique/Génie mécanique |
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| Parallel robotic manipulators – stiffness analysis – kinetostatic modelling – Orthoglide robot |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00326672, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00326672 | |
| oai:hal.archives-ouvertes.fr:hal-00326672 | |
| Contributeur : Damien Chablat | |
| Soumis le : Samedi 4 Octobre 2008, 21:39:06 | |
| Dernière modification le : Dimanche 5 Octobre 2008, 17:03:30 | |
