Stiffness analysis of overconstrained parallel manipulators

Mechanism and Machine Theory

Volumn 44, Issue 5, 2009, Pages 966-982

  Pashkevich, Anatol ^a,b   Chablat, Damien ^a   Wenger, Philippe ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

^b ECOLE DES MINES DE NANTES   (France)

Author keywords

Orthoglide robot; Parallel mechanisms; Parallelogram based linkage; Stiffness modeling

Indexed keywords

FLEXIBLE STRUCTURES; MANIPULATORS; MECHANISMS; PARALLEL ARCHITECTURES; ROBOTICS; STIFFNESS;

APPLICATION EXAMPLES; FLEXIBLE LINKS; KINETOSTATIC; LINK FLEXIBILITIES; LUMPED-PARAMETER MODELS; NEW SOLUTIONS; ORTHOGLIDE ROBOT; OVER-CONSTRAINED; PARALLEL MANIPULATORS; PARALLEL MECHANISMS; PARALLELOGRAM-BASED LINKAGE; STIFFNESS ANALYSIS; STIFFNESS MODELING; TRANSLATIONAL PARALLEL MANIPULATORS; VIRTUAL SPRINGS;

STIFFNESS MATRIX;

EID: 60649098956     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2008.05.017     Document Type: Article

References (43)

1. Brogardh T. Present and future robot control development - an industrial perspective. Annual Reviews in Control 31 1 (2007) 69-79
2. Chanal H., Duc E., and Ray P. A study of the impact of machine tool structure on machining processes. International Journal of Machine Tools and Manufacture 46 2 (2006) 98-106
3. Merlet J.-P. Parallel Robots (2006), Kluwer Academic Publishers, Dordrecht
4. Tsai L.W. Robot Analysis: The Mechanics of Serial and Parallel Manipulators (1999), John Wiley and Sons, New York
5. P. Wenger, C. Gosselin, B. Maille, A comparative study of serial and parallel mechanism topologies for machine tools, in: Proceedings of PKM'99, Milan, Italy, 1999, pp. 23-32.
6. Tlusty J., Ziegert J.C., and Ridgeway S. Fundamental comparison of the use of serial and parallel kinematics for machine tools. CIRP Annals 48 1 (1999) 351-356
7. Company O., and Pierrot F. Modelling and design issues of a 3-axis parallel machine-tool. Mechanism and Machine Theory 37 11 (2002) 1325-1345
8. T. Brogardh, PKM research - important issues, as seen from a product development perspective at abb robotics, in: Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec, Canada, October 2002.
9. Duffy J. Statics and Kinematics with Applications to Robotics (1996), Cambridge University Press, New York
10. Griffis M., and Duffy J. Global stiffness modeling of a class of simple compliant couplings. Mechanism and Machine Theory 28 2 (1993) 207-224
11. Xi F., Zhang D., Mechefske C.M., and Sherman Y.T.L. Global kinetostatic modelling of tripod-based parallel kinematic machine. Mechanism and Machine Theory 39 4 (2004) 357-377
12. Alici G., and Shirinzadeh B. Enhanced stiffness modeling, identification and characterization for robot manipulators. IEEE Transactions on Robotics 21 4 (2005) 554-564
13. Liu X.-J., Jin Z.-L., and Gao F. Optimum design of 3-DOF spherical parallel manipulators with respect to the conditioning and stiffness indices. Mechanism and Machine Theory 35 9 (2000) 1257-1267
14. Piras G., Cleghorn W.L., and Mills J.K. Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links. Mechanism and Machine Theory 40 7 (2005) 849-862
15. B.C. Bouzgarrou, J.C. Fauroux, G. Gogu, Y. Heerah, Rigidity analysis of T3R1 parallel robot uncoupled kinematics, in: Proceedings of the 35th International Symposium on Robotics, Paris, March 2004, 6 pp.
16. El-Khasawneh B.S., and Ferreira P.M. Computation of stiffness and stiffness bounds for parallel link manipulators. International Journal of Machine Tools and Manufacture 39 2 (1999) 321-342
17. Long C.S., Snyman J.A., and Groenwold A.A. Optimal structural design of a planar parallel platform for machining. Applied Mathematical Modelling 27 8 (2003) 581-609
18. C. Corradini, J.C. Fauroux, S. Krut, O. Company, Evaluation of a 4-degree-of-freedom Parallel Manipulator Stiffness, in: Proceedings of 11th IFToMM World Congress in Mechanism and Machine Science, Tianjin, China. 2004, pp. 1857-1861.
19. Rizk R., Fauroux J.C., Mumteanu M., and Gogu G. A comparative stiffness analysis of a reconfigurable parallel machine with three or four degrees of mobility. Journal of Machine Engineering 6 2 (2006) 45-55
20. Ghali A., Neville A.M., and Brown T.G. Structural Analysis: A Unified Classical and Matrix Approach (2003), Spon Press, NY
21. C.M. Clinton, G. Zhang, A.J. Wavering, Stiffness modeling of a Stewart-platform-based milling machine, in: Transaction of the North America Manufacturing Research Institution of SME, vol. XXV, 1997, pp. 335-340.
22. Y.W. Li, J.S. Wang, L.P. Wang, Stiffness analysis of a Stewart platform-based parallel kinematic machine, in: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Washington, US, May 11-15, 2002, vol. 4, pp. 3672-3677.
23. Huang T., Zhao X., and Whitehouse D.J. Stiffness estimation of a tripod-based parallel kinematic machine. IEEE Transaction on Robotics and Automation 18 1 (2002) 50-58
24. D. Deblaise, X. Hernot, P. Maurine, Systematic analytical method for PKM stiffness matrix calculation, in: IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, May 2006, pp. 4213-4219.
25. Gosselin C.M. Stiffness mapping for parallel manipulators. IEEE Transactions on Robotics and Automation 6 3 (1990) 377-382
26. Gosselin C.M., and Zhang D. Stiffness analysis of parallel mechanisms using a lumped model. International Journal of Robotics and Automation 17 1 (2002) 17-27
27. Ceccarelli M., and Carbone G. A stiffness analysis for CaPaMan (Cassino Parallel Manipulator). Mechanism and Machine Theory 37 5 (2002) 427-439
28. Company O., Krut S., and Pierrot F. Modelling and preliminary design issues of a 4-axis parallel machine for heavy parts handling. Journal of Multibody Dynamics 216 (2002) 1-11
29. H.K. Arumugam, R.M. Voyles, S. Bapat, Stiffness analysis of a class of parallel mechanisms for micro-positioning applications, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004, vol. 2, pp. 1826-1831.
30. Zhang D., Xi F., Mechefske C.M., and Lang S.Y.T. Analysis of parallel kinematic machine with kinetostatic modeling method. Robotics and Computer-Integrated Manufacturing 20 2 (2004) 151-165
31. Majou F., Gosselin C., Wenger P., and Chablat D. Parametric stiffness analysis of the Orthoglide. Mechanism and Machine Theory 42 3 (2007) 296-311
32. R. Vertechy, V. Parenti-Castelli, Static and stiffness analyses of a class of over-constrained parallel manipulators with legs of type US and UPS, in: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 561-567.
33. Chen S.F., and Kao I. Conservative congruence transformation for joint and Cartesian stiffness matrices of robotic hands and fingers. International Journal of Robotics Research 19 9 (2000) 835-847
34. Kövecses J., and Angeles J. The stiffness matrix in elastically articulated rigid-body systems. Multibody System Dynamics 18 2 (2007) 169-184
35. Li Y., and Xu Q. Stiffness analysis for a 3-PUU parallel kinematic machine. Mechanism and Machine Theory 43 2 (2008) 186-200
36. R. Clavel, DELTA, a fast robot with parallel geometry, in: Proceedings, of the 18th International Symposium of Robotic Manipulators, IFR Publication, 1988, pp. 91-100.
37. Chablat D., and Wenger Ph. Architecture Optimization of a 3-DOF Parallel Mechanism for Machining Applications, the Orthoglide. IEEE Transactions on Robotics and Automation 19 3 (2003) 403-410
38. Pashkevich A., Wenger P., and Chablat D. Design Strategies for the Geometric Synthesis of Orthoglide-type mechanisms. Mechanism and Machine Theory 40 8 (2005) 907-930
39. Alizade R.I., and Bayram C. Structural synthesis of parallel manipulators. Mechanism and Machine Theory 39 8 (2004) 857-870
40. Di Gregorio R. Translational parallel manipulators: new proposals. Journal of Robotic Systems 19 12 (2002) 595-603
41. F. Majou, P. Wenger, D. Chablat, The design of parallel kinematic machine tools using kinetostatic performance criteria, in: Third International Conference on Metal Cutting and High Speed Machining, Metz, France, June 2001, 10 pp.
42. Pashkevich A., Chablat D., and Wenger Ph. Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide. Robotica 24 1 (2006) 39-49
43. Horn R., and Johnson C. Matrix Analysis (1990), Cambridge University Press, NY