多鎖並列ロボットシステムの剛性解析
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
柔軟リンクと柔軟関節を持つ多鎖並列マニピュレータの新しい剛性モデリング手法を提案し、特異姿勢や外力の影響を考慮した剛性行列計算を可能にした。
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 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
