Parametric stiffness analysis of the Orthoglide

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 paramete...

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Bibliographic Details
Published inMechanism and machine theory Vol. 42; no. 3; pp. 296 - 311
Main Authors Majou, F., Gosselin, C., Wenger, P., Chablat, D.
Format Journal Article
LanguageEnglish
Published Oxford Elsevier Ltd 01.03.2007
New York, NY Elsevier
Subjects
Applied sciences
Computer Science
Drives
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Linkage mechanisms, cams
Mechanical engineering. Machine design
Orthoglide
Parametric analysis
Physics
PKM design
Robotics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stiffness
Stiffness
Parametric analysis
Orthoglide
PKM design
Stiffness matrix
Machining
Parallel mechanism
Symbolic computation
Modeling
Geometrical model
Linkage mechanism
System identification
System with three degrees of freedom
Parametric analysis: Stiffness
Workspace
Orhtoglide
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Summary: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.
ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2006.03.018