Stiffness modelling of parallelogram-based parallel manipulators

Anatol Pashkevich (1) , Alexandr Klimchik (1) , Stéphane Caro (1) , Damien Chablat (1)

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

The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.

Mots clés: Stiffness modeling; parallel manipulators; parallelogram-based linkage; external loading; linear approximation

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Alexandr Klimchik, Stéphane Caro, Damien Chablat. Stiffness modelling of parallelogram-based parallel manipulators. Pisla D., Ceccarelli M., Husty M., Corves B. New Trends in Mechanism Science. Mechanisms and Machine Science, 5, Springer, Dordrecht, pp.675-682, 2010, 978-90-481-9688-3. ⟨hal-00545384⟩