Parametric stiffness analysis of the Orthoglide

Details Parametric stiffness analysis of the Orthoglide Parametric stiffness analysis of the Orthoglide

2007-08-27

arxiv.org/abs/0708.3607v1

Journal of Mechanism and Machine Theory 42, 3 (2007) 296-311

Computer Science

Robotics

Scientific paper

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design parameters and to quickly identify the critical link parameters. Our symbolic model is used to display the stiffest areas of the workspace for a specific machining task. Our approach can be applied to any parallel manipulator for which stiffness is a critical issue.

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