Proceedings ArticleDOI
A systematic analytical method for PKM stiffness matrix calculation
D. Deblaise,X. Hernot,P. Maurine +2 more
- pp 4213-4219
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TLDR
The proposed analytical method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications.Abstract:
The purpose of this work is to propose a new approach for the calculation of PKM stiffness matrix by using an analytical method based on matrix structural analysis. This method has as the main advantage to be systematic and it also can be applied to hyper-static PKM stiffness analysis. The implementation of the proposed method is fast and convenient and it can easily be involved during PKM design optimization. Moreover, as the stiffness matrix is obtained in a close form, it can be implemented directly on the robot controller. In other words, the proposed method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications. At first this paper presents the proposed analytical method that is applied to calculate the stiffness matrix of a delta parallel structure. Then the experimental results that have been done to evaluate and validate its efficiency are presentedread more
Citations
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Stiffness analysis of overconstrained parallel manipulators
TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
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Enhanced stiffness modeling of manipulators with passive joints
TL;DR: In this paper, a non-linear stiffness model for serial and parallel manipulators with passive joints is presented, where the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints.
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Identification of the manipulator stiffness model parameters in industrial environment
Alexandr Klimchik,Alexandr Klimchik,Benoit Furet,Benoit Furet,Stéphane Caro,Anatol Pashkevich,Anatol Pashkevich +6 more
TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
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Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings
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Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects
Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
References
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Journal ArticleDOI
Stiffness mapping for parallel manipulators
TL;DR: The approach used by the author is to establish stiffness or conditioning maps of the workspace of the manipulator, which reveal the existence of zones where the stiffness is not acceptable and also help the designer by providing a more accurate representation of the properties of the manipulation.
Journal ArticleDOI
Computation of stiffness and stiffness bounds for parallel link manipulators
TL;DR: In this paper, the problem of finding the minimum and maximum stiffnesses and the directions in which they occur for a manipulator in a given posture is addressed, and the computation of stiffness in an arbitrary direction is also discussed.
Journal ArticleDOI
Stiffness estimation of a tripod-based parallel kinematic machine
TL;DR: A simple yet comprehensive approach that enables the stiffness of a tripod-based parallel kinematic machine to be quickly estimated and the contributions of different component rigidities to the machine stiffness are discussed.
Journal ArticleDOI
Parametric stiffness analysis of the Orthoglide
TL;DR: In this article, a parametric stiffness analysis of the Orthoglide was performed and a compliant modeling and a symbolic expression of the stiffness matrix were conducted. Butler et al. presented a simple systematic analysis for the influence of the geometric design parameters and identified the critical link parameters.
Posted Content
Parametric stiffness analysis of the Orthoglide
TL;DR: In this article, a parametric stiffness analysis of the Orthoglide, a 3DOF translational parallel Kinematic machine, is presented, which allows one to easily study the influence of the geometric design parameters on the matrix elements.