Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

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 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 external forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of a parallel manipulator of the Orthoglide family

Mots clés: parallel robotic manipulators; stiffness analysis; kinetostatic modelling; loaded mode; Orthoglide robot

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger. Stiffness Analysis Of Multi-Chain Parallel Robotic Systems. Journal of Automation, Mobile Robotics and Intelligent Systems, 2009, 3 (3), pp.75-82. ⟨hal-00418768⟩