Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

TL;DR

This paper introduces a novel stiffness modeling method for multi-chain parallel robotic manipulators that combines FEA-based link evaluation with a new solution strategy for kinetostatic equations, enabling analysis of singular postures and external forces.

Contribution

It presents a new stiffness modeling approach that improves accuracy and applicability for complex parallel robots, especially in singular configurations.

Findings

The method accurately predicts stiffness in various configurations.

It effectively accounts for external forces and singular postures.

Application examples validate the approach's advantages.

Abstract

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