- Tytuł:
- Stiffness analysis of multi-chain parallel robotic systems with loading
- Autorzy:
-
Pashkevich, A.
Klimchik, A.
Chablat, D.
Wenger, P. - Powiązania:
- https://bibliotekanauki.pl/articles/384671.pdf
- Data publikacji:
- 2009
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
parallel robotic manipulators
stiffness analysis
kinetostatic modelling
loaded mode
Orthoglide robot - Opis:
- The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations, which allows computing the stiffness matrix for singular postures and to take into account influence of the external forces. The advantages of the developed technique are confirmed by application examples, which deal with stiffness analysis of a parallel manipulator of the Orthoglide family.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2009, 3, 3; 75-82
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł