Stiffness modelling of parallelogram-based parallel manipulators

Abstract. The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear "load-deflection" relation and relevant rankdeficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family. Key words: stiffness modeling, parallel manipulators, parallelogram-based linkage, external loading, linear approximation.

• Type: Journal
• Year: 2010
• Where: CORR
• Authors: Anatoly Pashkevich, Alexandr Klimchik, Stéphane Caro, Damien Chablat
• Keywords: CORR 2010, Education, External Loading, Parallelogram-based Linkage, Stiffness