過拘束パラレルマニピュレータの剛性解析手法
Stiffness Analysis of Overconstrained Parallel Manipulators
柔軟リンクとコンプライアント関節を持つ過拘束パラレルマニピュレータの新しい剛性モデリング手法を提案し、3-PUUや3-PRPaR、Orthoglideで精度を検証した論文。
著者: Anatoly Pashkevich, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix for the overconstrained architectures, including 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 of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator.
