Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators

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dc.creatorPashkevich, Anatoly
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2008-02-20
dc.date.accessioned2026-07-07T09:21:57Z
dc.date.available2026-07-07T09:21:57Z
dc.descriptionThe paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the 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.
dc.identifierhttps://arxiv.org/abs/0802.2773
dc.identifierhttp://arxiv.org/abs/0802.2773
dc.identifierDans IEEE Int. Conference on Robotics and Automation - ICRA IEEE Int. Conference on Robotics and Automation, Pasadena : États-Unis d'Amérique (2008)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/155209
dc.subjectRobotics
dc.subjectClassical Physics
dc.titleStiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators
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