Parametric stiffness analysis of the Orthoglide
F\'elix Majou (IRCCyN), Cl\'ement Gosselin (Robotics Laboratory),, Philippe Wenger (IRCCyN), Damien Chablat (IRCCyN)
TL;DR
This paper introduces a symbolic, parametric stiffness analysis method for the Orthoglide, enabling quick identification of critical design parameters and stiff regions, applicable to various parallel manipulators.
Contribution
It provides a novel symbolic modeling approach for stiffness analysis, facilitating systematic design optimization of parallel manipulators.
Findings
Identified stiffest workspace regions for specific tasks
Developed a symbolic expression for the stiffness matrix
Enabled rapid analysis of geometric parameter influence
Abstract
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design parameters and to quickly identify the critical link parameters. Our symbolic model is used to display the stiffest areas of the workspace for a specific machining task. Our approach can be applied to any parallel manipulator for which stiffness is a critical issue.
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Taxonomy
TopicsRobotic Mechanisms and Dynamics · Dynamics and Control of Mechanical Systems · Advanced Numerical Analysis Techniques