StiffnessAnalysisof3-d-Hal.docVIP

Stiffness Analysis ofOverconstrained Parallel Manipulators Anatol Pashkevich1,2, Damien Chablat1*, Philippe Wenger1 1Institut de Recherches en Communications et Cybernétique de Nantes, UMR CNRS 6597, 1 rue de la No, 44321 Nantes, France 2Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France Abstract. The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix for the overconstrained architectures, including 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 of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator. Keywords: Parallel mechanisms, Stiffness modeling, Parallelogram-based linkage, Orthoglide robot 1. Introduction Parallel manipulators have become more and more popular in industrial applications, including high-accuracy positioning and high-speed machining [1, 2]. This growing attention is inspired by their essential advantages over serial manipulators, which have already reached the dynamic performance limits (bounded by high masses of the machine components required to support sequential joints, links and actuators). In contrast, parallel manipulators are claimed to offer better accuracy, lower mass/inertia properties, and higher structural ri