Stiffness Analysis of Overconstrained Parallel Manipulators

Simple item page
dc.creatorPashkevich, Anatoly
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2009-04-01
dc.date.accessioned2026-07-07T12:58:58Z
dc.date.available2026-07-07T12:58:58Z
dc.descriptionThe 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.
dc.identifierhttps://arxiv.org/abs/0904.0052
dc.identifierhttp://arxiv.org/abs/0904.0052
dc.identifierJournal of Mechanism and Machine Theory 44, 5 (2009) 966-982
dc.identifierdoi:10.1016/j.mechmachtheory.2008.05.017
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/225428
dc.subjectRobotics
dc.titleStiffness Analysis of Overconstrained Parallel Manipulators
dc.typetext

Files

Collections

arXiv