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| HAL : hal-00418768, version 1 |
| arXiv : 0909.3917 |
| Fiche détaillée |  Récupérer au format |
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| Journal of Automation, Mobile Robotics and Intelligent Systems 3, 3 (2009) 75-82 |
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| Stiffness Analysis Of Multi-Chain Parallel Robotic Systems |
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| Anatoly Pashkevich 1Alexandr Klimchik 1 |
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| (2009) |
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| 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 |
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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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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| parallel robotic manipulators – stiffness analysis – kinetostatic modelling – loaded mode – Orthoglide robot |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00418768, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00418768 | |
| oai:hal.archives-ouvertes.fr:hal-00418768 | |
| Contributeur : Damien Chablat | |
| Soumis le : Lundi 21 Septembre 2009, 15:43:20 | |
| Dernière modification le : Mardi 22 Septembre 2009, 08:38:32 | |
