Stiffness analysis of multi-chain parallel robotic systems with loading

• Autorzy: Pashkevich A. , Klimchik A. , Chablat D. , Wenger P.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

parallel robotic manipulators; stiffness analysis; kinetostatic modelling; loaded mode; Orthoglide robot

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2009
• Tom: Vol. 3, No. 3
• Strony: 75--82
• Opis fizyczny: Bibliogr. 18 poz.,rys.

Twórcy

autor

Pashkevich A.

autor

Klimchik A.

autor

Chablat D.

autor

Wenger P.

• Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France; Institut de Recherches en Communications et Cybernetique de Nantes, UMR CNRS 6597, 1 rue de la No, 44321 Nantes, France,

Bibliografia

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