Stiffness modelling of parallelogram-based parallel manipulators
Anatoly Pashkevich (IRCCyN), Alexandr Klimchik (IRCCyN), St\'ephane, Caro (IRCCyN), Damien Chablat (IRCCyN)
TL;DR
This paper introduces a new methodology for stiffness analysis of parallelogram-based parallel manipulators, accounting for external loads and providing detailed load-deflection relations and stiffness matrices.
Contribution
It proposes an innovative approach combining load-dependent stiffness modeling with an equivalent pseudo-rigid bar model for parallelogram linkages.
Findings
Effective stiffness analysis under external loads
Accurate load-deflection modeling
Simplified pseudo-rigid model for design insights
Abstract
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear ``load-deflection" relation and relevant rank-deficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family.
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