Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

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dc.creatorPashkevich, Anatoly
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2008-10-05
dc.date.accessioned2026-07-07T10:07:44Z
dc.date.available2026-07-07T10:07:44Z
dc.descriptionThe 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 internal forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of the Orthoglide manipulator.
dc.identifierhttps://arxiv.org/abs/0810.0830
dc.identifierhttp://arxiv.org/abs/0810.0830
dc.identifier9th IFAC Workshop on Intelligent Manufacturing Systems, France (2008)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/170748
dc.subjectRobotics
dc.subjectClassical Physics
dc.titleStiffness Analysis Of Multi-Chain Parallel Robotic Systems
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