Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique

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Date

21 novembre 2008

Type de document
Périmètre
Identifiants
  • handle:  10670/1.gfjwcd
  • 5eme Assises Machines et Usinage \`a grande vitesse, Nantes : France (2008)
Source

arXiv

Collection

arXiv

Organisation

Cornell University


Mots-clés

Computer Science - Robotics

Sujets proches En Fr

computing informatisation

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Anatoly Pashkevich et al., « Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique », arXiv, ID : 10670/1.gfjwcd


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The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for the overconstrained architectures and for the 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.

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