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arXiv : 0909.0108

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ASME Design Engineering Technical Conferences, San Diego : United States (2009)

On the optimal design of parallel robots taking into account their deformations and natural frequencies

Sébastien Briot 1, Anatoly Pashkevich 1, Damien Chablat (  Auteur correspondant ) 1

(31/08/2009)

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified models are used to propose optimal design of robots. However, the elasticity of the drive system is often negligible in comparison with the elasticity of the elements, especially in applications where high dynamic performances are needed. Therefore, the use of such a simplified model may lead to the creation of robots with long legs, which will be submitted to large bending and twisting deformations. This paper presents an example of manipulator for which it is preferable to use a complete stiffness or vibration model to obtain the most suitable design and shows that the use of simplified models can lead to mechanisms with poorer rigidity.

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

Domaine

:

Informatique/Robotique

Mots Clés : Parallel mechanism – optimisation – stiffness model – vibration model – PKM – biglide

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Contributeur : Damien Chablat <>

Soumis le : Dimanche 30 Août 2009, 22:59:37

Dernière modification le : Mardi 1 Septembre 2009, 08:47:06