Parametric Stiffness Analysis of the Orthoglide
نویسندگان
چکیده
This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is symbolically computed. This allows one to easily study the influence of the geometric design parameters on the matrix elements. Critical links are displayed. Cutting forces are then modeled so that static displacements of the Orthoglide tool during slot milling are symbolically computed. Influence of the geometric design parameters on the static displacements is checked as well. Other machining operations can be modeled. This parametric stiffness analysis can be applied to any parallel manipulator for which stiffness is a critical issue.
منابع مشابه
Effects of asymmetric stiffness on parametric instabilities of rotor
This work deals with effects of asymmetric stiffness on the dynamic behaviour of the rotor system. The analysis is presented through an extended Lagrangian Hamiltonian mechanics on the asymmetric rotor system, where symmetries are broken in terms of the rotor stiffness. The complete dynamics of asymmetries of rotor system is investigated with a case study. In this work, a mathematical model is ...
متن کاملKinematic Analysis and Trajectory Planning of the Orthoglide 5-axis
The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The s...
متن کاملDesign of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints that allowed the optmization of its kinematic architecture and legs architecture. Thus, several leg morphologies are convenient for the chosen mechanism. We ex...
متن کاملDesign Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Pashkevich A., Wenger P. and Chablat D. Belarusian State University of Informatics and Radioelectronics P. Brovka str, 220027 Minsk, Republic of Belarus [email protected] Tel. 375 17 239 86 73, Fax. 375 17 231 09 14 Institut de Recherche en Communications et Cybernétique de Nantes 1, rue de la Noë B.P. 6597, 44321 Nantes Cedex 3, France {Philippe.Wenger, Damien.Chablat}@irccyn.ec-nantes.fr Te...
متن کاملA New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye
The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-times control. To reduce the inertial load, the motors are ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- CoRR
دوره abs/0708.3723 شماره
صفحات -
تاریخ انتشار 2007