Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

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dc.creatorPashkevich, Anatoly
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2008-11-21
dc.date.accessioned2026-07-07T10:20:07Z
dc.date.available2026-07-07T10:20:07Z
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/0811.3536
dc.identifierhttp://arxiv.org/abs/0811.3536
dc.identifier5eme Assises Machines et Usinage à grande vitesse, Nantes : France (2008)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/174750
dc.subjectRobotics
dc.titleAnalyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique
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