Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

Details Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

2008-11-21

arxiv.org/abs/0811.3536v1

5eme Assises Machines et Usinage \`a grande vitesse, Nantes : France (2008)

Computer Science

Robotics

Scientific paper

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the singular manipulator postures. The advantages of the developed technique are confirmed by application examples, which deal with comparative stiffness analysis of two translational parallel manipulators.

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