Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints

被引：5
|
作者：
Pashkevich, A. [1 ]
Klimchik, A.
Chablat, D.
机构：
[1] Inst Rech Commun & Cybernet Nantes, Nantes, France
来源：
ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年
关键词：
Modeling; parallel manipulators; external loading; internal preloading; passive joints; STATIC ANALYSIS; MECHANISM;
D O I：
10.1007/978-90-481-9262-5_50
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：465 / +
页数：2
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