2009/09/08 by Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat +1 · 1 citation
Computer Science · #cs.RO
published as 42ème CIRP Conference on Manufacturing Systems, Grenoble : France (2009)
arxiv created 2009/09/08 · arxiv updated 2009/12/01
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques and deals with multidimensional lumped-parameter models of the links. The latter replace the link flexibility by localized 6-dof virtual springs describing both translational/rotational compliance and the coupling between them. There is presented detailed accuracy analysis of the stiffness identification procedures employed in the commercial CAD systems (including statistical analysis of round-off errors, evaluating the confidence intervals for stiffness matrices). The efficiency of the developed technique is confirmed by application examples, which deal with stiffness analysis of translational parallel manipulators.