arXiv:0708.3607
Parametric stiffness analysis of the Orthoglide
Parametric stiffness analysis of the Orthoglide
著者: Félix Majou, Clément Gosselin, Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis of the influence of the geometric design parameters and to quickly identify the critical link parameters. Our symbolic model is used to display the stiffest areas of the workspace for a specific machining task. Our approach can be applied to any parallel manipulator for which stiffness is a critical issue.