文档介绍：Mechanism and Machine Theory 44 (2009) 966–982
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Stiffness analysis of overconstrained parallel manipulators
Anatol Pashkevich a,b, Damien Chablat a,*, Philippe Wenger a
a Institut de Recherches munications et Cybernétique de Nantes, RS 6597, 1 rue de la No, 44321 Nantes, France
b Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France
article info abstract
Article history: The paper presents a new stiffness modeling method for overconstrained parallel manipu-
Received 5 November 2007 lators with flexible links pliant actuating joints. It is based on a multidimensional
Received in revised form 17 May 2008 lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs
Accepted 27 May 2008
that describe both translational/pliance and the coupling between them. In
Available online 25 July 2008
contrast to other works, the method involves a FEA-based link stiffness evaluation and
employs a new solution strategy of the ostatic equations for the unloaded manipula-
tor configuration, which puting the stiffness matrix for the overconstrained
Keywords:
architectures, including singular manipulator postures. The advantages of the developed
Parallel mechanisms
Stiffness modeling technique are confirmed by application examples, which deal parative stiffness
Parallelogram-based linkage analysis of two translational parallel manipulators of 3-PUU and 3-PRPaR architectures.
Orthoglide robot Accuracy of the proposed approach was evaluated for a case study, which focuses on stiff-
ness analysis of Orthoglide parallel manipulator.
Crown Copyright Ó 2008 Published by Elsevier Ltd. All rights reserved.
1. Introduction
Parallel manipulators have e more and more popular in industrial applications, including high-accuracy position-
ing and high-speed machining [1,2]. This growing attention is inspired by their esse