Stiffness modelling of parallelogram-based parallel manipulators
Robotics
2010-12-13 v1
Abstract
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.
Cite
@article{arxiv.1012.2199,
title = {Stiffness modelling of parallelogram-based parallel manipulators},
author = {Anatoly Pashkevich and Alexandr Klimchik and Stéphane Caro and Damien Chablat},
journal= {arXiv preprint arXiv:1012.2199},
year = {2010}
}