Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
Robotics
2009-09-23 v1
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
Cite
@article{arxiv.0909.3917,
title = {Stiffness Analysis Of Multi-Chain Parallel Robotic Systems},
author = {Anatoly Pashkevich and Alexandr Klimchik and Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0909.3917},
year = {2009}
}