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Abstract: The paper presents a new stiffness modelling method for multi-chain parallelrobotic manipulators with flexible links and compliant actuating joints. Incontrast to other works, the method involves a FEA-based link stiffnessevaluation and employs a new solution strategy of the kinetostatic equations,which allows computing the stiffness matrix for singular postures and to takeinto account influence of the external forces. The advantages of the developedtechnique are confirmed by application examples, which deal with stiffnessanalysis of a parallel manipulator of the Orthoglide family



Autor: Anatoly Pashkevich IRCCyN, Alexandr Klimchik IRCCyN, Damien Chablat IRCCyN, Philippe Wenger IRCCyN

Fuente: https://arxiv.org/







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