3自由度過拘束並進パラレルマニピュレータの剛性解析
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators
リンクの柔軟性を6自由度仮想ばねで置き換える多次元集中定数モデルとFEAによるリンク剛性評価を組み合わせ、過拘束並進パラレル機構の剛性行列を特異姿勢でも計算できる新手法を提案し、2機種の比較解析で有効性を示した。
著者: Anatoly Pashkevich, Damien Chablat, Philippe Wenger
分類: cs.RO, physics.class-ph
原文アブストラクト
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.
