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| HAL : hal-00545384, version 1 |
| arXiv : 1012.2199 |
| Fiche détaillée |  Récupérer au format |
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| 3-rd European Conference on Mechanism Science, Cluj-Napoca : Romania (2010) |
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| Stiffness modelling of parallelogram-based parallel manipulators |
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| Anatoly Pashkevich 1Alexandr Klimchik 1 |
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| (06/09/2010) |
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| 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. |
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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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| Méthodes de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Stiffness modeling – parallel manipulators – parallelogram-based linkage – external loading – linear approximation |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00545384, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00545384 | |
| oai:hal.archives-ouvertes.fr:hal-00545384 | |
| Contributeur : Damien Chablat | |
| Soumis le : Vendredi 10 Décembre 2010, 07:57:42 | |
| Dernière modification le : Vendredi 10 Décembre 2010, 09:13:20 | |
