Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique

TL;DR

This paper introduces a novel stiffness modeling method for overconstrained 3-axis parallel manipulators, combining FEA-based link stiffness evaluation with a new solution strategy to accurately analyze stiffness in various configurations.

Contribution

The paper presents a new multidimensional lumped-parameter model incorporating FEA and a unique solution approach for stiffness analysis of overconstrained parallel mechanisms.

Findings

Effective stiffness analysis of overconstrained manipulators

Application examples confirm the method's advantages

Comparative stiffness analysis demonstrates improved accuracy

Abstract

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.