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Content Provider | IEEE Xplore Digital Library |
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Author | Pashkevich, A. Chablat, D. Wenger, P. |
Copyright Year | 2008 |
Description | Author affiliation: IRCCyN, Nantes (Pashkevich, A.; Chablat, D.; Wenger, P.) |
Abstract | The 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. |
Starting Page | 1562 |
Ending Page | 1567 |
File Size | 447973 |
Page Count | 6 |
File Format | |
ISBN | 9781424416462 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2008.4543424 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2008-05-19 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Leg Kinematics Springs Computer architecture Foot Parallel robots Robotics and automation USA Councils Manipulators Deformable models |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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