並列マニピュレータの剛性モデリング精度向上
Accuracy Improvement for Stiffness Modeling of Parallel Manipulators
並列マニピュレータの剛性モデルを、解析と数値計算を組み合わせた手法で高精度化し、リンクを6自由度仮想ばねで置き換える多次元集中定数モデルを提案した。商用CADの剛性同定手順の精度分析も行い、並進並列マニピュレータの例で有効性を確認した。
著者: Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques and deals with multidimensional lumped-parameter models of the links. The latter replace the link flexibility by localized 6-dof virtual springs describing both translational/rotational compliance and the coupling between them. There is presented detailed accuracy analysis of the stiffness identification procedures employed in the commercial CAD systems (including statistical analysis of round-off errors, evaluating the confidence intervals for stiffness matrices). The efficiency of the developed technique is confirmed by application examples, which deal with stiffness analysis of translational parallel manipulators.
