Computer Science – Robotics
Scientific paper
2010-12-09
12th International Symposium on Advances in Robot Kinematics, Slov\'enie : France (2010)
Computer Science
Robotics
Scientific paper
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.
Chablat Damien
Klimchik Alexandr
Pashkevich Anatoly
No associations
LandOfFree
Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.
If you have personal experience with Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Stiffness Analysis of Parallel Manipulators with Preloaded Passive Joints will most certainly appreciate the feedback.
Profile ID: LFWR-SCP-O-76690