Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
نویسندگان
چکیده
STIFFNESS ANALYSIS OF MULTI-CHAIN PARALLEL ROBOTIC SYSTEMS WITH LOADING Anatol Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France Institut de Recherches en Communications et Cybernétique de Nantes, UMR CNRS 6597, 1 rue de la No, 44321 Nantes, France Abstract: The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for singular postures and to take into account influence of the external forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of a parallel manipulator of the Orthoglide family.
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عنوان ژورنال:
- CoRR
دوره abs/0909.3917 شماره
صفحات -
تاریخ انتشار 2008