Performance evaluation of parallel manipulators for milling application

Anatol Pashkevich (1) , Alexandr Klimchik (1) , Sébastien Briot (1) , Damien Chablat (1)

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

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.

Mots clés: Performance evaluation; Kinetostatic modeling; Elastic errors; Parallel manipulators; Milling application

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Alexandr Klimchik, Sébastien Briot, Damien Chablat. Performance evaluation of parallel manipulators for milling application. 20th CIRP Design Conference, May 2010, Nantes, France. pp.1-8. ⟨hal-00544855⟩