HAL : hal-00544855, version 1

arXiv : 1012.1948

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20th CIRP Design Conference, Nantes : France (2010)

Performance evaluation of parallel manipulators for milling application

Anatoly Pashkevich 1, Alexandr Klimchik 1, Sébastien Briot 1, Damien Chablat 1

(10/05/2010)

This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the machining are defined. In this case, optimal synthesis task is solved as a multicriterion optimization problem with respect to the geometric, kinematic, kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness is an important performance factor. Previous models operate with links approximation and calculate stiffness matrix in the neighborhood of initial point. This is a reason why a new way for stiffness matrix calculation is proposed. This method is illustrated in a concrete industrial problem.

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 : Performance evaluation – Kinetostatic modeling – Elastic errors – Parallel manipulators – Milling application

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Contributeur : Damien Chablat <>

Soumis le : Jeudi 9 Décembre 2010, 10:03:51

Dernière modification le : Jeudi 9 Décembre 2010, 10:05:09