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| HAL : hal-00414207, version 1 |
| arXiv : 0909.1460 |
| Fiche détaillée |  Récupérer au format |
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| 42ème CIRP Conference on Manufacturing Systems, Grenoble : France (2009) |
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| Accuracy Improvement for Stiffness Modeling of Parallel Manipulators |
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| Anatoly Pashkevich 1Alexandr Klimchik 1 |
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| (03/06/2009) |
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| 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. |
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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 |
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| Design of manufacturing systems – Parallel mechanisms – Stiffness modeling – Translational parallel manipulators |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00414207, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00414207 | |
| oai:hal.archives-ouvertes.fr:hal-00414207 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mardi 8 Septembre 2009, 12:08:30 | |
| Dernière modification le : Mardi 8 Septembre 2009, 13:22:17 | |
