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CORR
2010
Springer

Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints

13 years 8 months ago
Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints
Abstract. The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear "load-deflection" relation and the stiffness matrices for any given location of the end-platform or actuating drives. Using this methodology, it is proposed the kinetostatic control algorithm that allows to improve accuracy of the classical kinematic control and to compensate position errors caused by elastic deformations in links/joints due to the external/internal loading. The results are illustrated by an example that deals with a parallel manipulator of the Orthoglide family where the internal preloading allows to eliminate the undesired buckling phenomena and to improve the stiffness in the neighborhood of its kinematic singularities. Key words: modeling, parallel manipulators, external loading, internal preloading, passive j...
Anatoly Pashkevich, Alexandr Klimchik, Damien Chab
Added 01 Mar 2011
Updated 01 Mar 2011
Type Journal
Year 2010
Where CORR
Authors Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat
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