Parametric stiffness analysis of the Orthoglide

DOI10.1016/J.MECHMACHTHEORY.2006.03.018zbMATH Open1107.70005arXiv0708.3607OpenAlexW2076597338WikidataQ57086238 ScholiaQ57086238MaRDI QIDQ869348FDOQ869348

F. Majou, Philippe Wenger, Clément M. Gosselin, Damien Chablat

Publication date: 2 March 2007

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Abstract: 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.

Full work available at URL: https://arxiv.org/abs/0708.3607

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zbMATH Keywords

workspacecritical link parameterssymbolic stiffness matrix

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Cited In (8)

• Enhanced stiffness modeling of manipulators with passive joints
• Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: application to the orthoglide
• Stiffness analysis of overconstrained parallel manipulators
• Design strategies for the geometric synthesis of orthoglide-type mechanisms
• The stiffness matrix in elastically articulated rigid-body systems
• Computer-aided integrated design for machines with varying dynamics
• Stiffness analysis for a 3-PUU parallel kinematic machine
• CAD-based approach for identification of elasto-static parameters of robotic manipulators

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