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| HAL : hal-00372638, version 1 |
| arXiv : 0904.0052 |
| DOI : 10.1016/j.mechmachtheory.2008.05.017 |
| Fiche détaillée |  Récupérer au format |
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| Journal of Mechanism and Machine Theory 44, 5 (2009) 966-982 |
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| Stiffness Analysis of Overconstrained Parallel Manipulators |
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| Anatoly Pashkevich 1Damien Chablat 1 |
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| (01/05/2009) |
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| The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix for the overconstrained architectures, including 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 of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel 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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| Méthodes de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel mechanisms – Stiffness modeling – Parallelogram-based linkage – Orthoglide robot |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00372638, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00372638 | |
| oai:hal.archives-ouvertes.fr:hal-00372638 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 1 Avril 2009, 18:06:01 | |
| Dernière modification le : Mercredi 1 Avril 2009, 21:29:25 | |
