Stiffness Analysis of Overconstrained Parallel Manipulators
By A. Pashkevich, Damien Chablat, Philippe Wenger. arXiv.org, 2009
314 citations recorded by the source corpus.
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix for the overconstrained architectures, including singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator.
Subfields: Biomedical Engineering, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/045e3178e53d0bce44bfab10af2b797ee27ec356
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In Biomedical Engineering
In Control and Systems Engineering
Citations in the corpus
- Identification of the manipulator stiffness model parameters in industrial environment (2015, methodology): “And finally, the VJM method [29-32], is based on the extension of the traditional rigid model by adding the virtual joints (localized springs), which describe the elastic deformations of the links, joints and actuators.”
- A method for force analysis of the overconstrained lower mobility parallel mechanism (2015, methodology): “[20] analyzed stiffness of Delta PM and Orthoglide PM based on a multidimensional lumped model of the flexible links.”
- Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects (2015, methodology): “[27] A. Klimchik, A. Pashkevich, D. Chablat, CAD-based approach for identification of elasto-static parameters of robotic manipulators, Finite Elem.”