Stiffness modelling of parallelogram-based parallel manipulators

Details Stiffness modelling of parallelogram-based parallel manipulators Stiffness modelling of parallelogram-based parallel manipulators

2010-12-10

arxiv.org/abs/1012.2199v1

3-rd European Conference on Mechanism Science, Cluj-Napoca : Romania (2010)

Computer Science

Robotics

Scientific paper

The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.

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