Accuracy Improvement for Stiffness Modeling of Parallel Manipulators

Anatol Pashkevich (1) , Alexandr Klimchik (1) , Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques and deals with multidimensional lumped-parameter models of the links. The latter replace the link flexibility by localized 6-dof virtual springs describing both translational/rotational compliance and the coupling between them. There is presented detailed accuracy analysis of the stiffness identification procedures employed in the commercial CAD systems (including statistical analysis of round-off errors, evaluating the confidence intervals for stiffness matrices). The efficiency of the developed technique is confirmed by application examples, which deal with stiffness analysis of translational parallel manipulators.

Mots clés: Design of manufacturing systems; Parallel mechanisms; Stiffness modeling; Translational parallel manipulators

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger. Accuracy Improvement for Stiffness Modeling of Parallel Manipulators. 42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8. ⟨hal-00414207⟩