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Abstract: This paper presents a parametric stiffness analysis of the Orthoglide, a3-DOF translational Parallel Kinematic Machine. First, a compliant modeling ofthe Orthoglide is conducted based on an existing method. Then stiffness matrixis symbolically computed. This allows one to easily study the influence of thegeometric design parameters on the matrix elements. Critical links aredisplayed. Cutting forces are then modeled so that static displacements of theOrthoglide tool during slot milling are symbolically computed. Influence of thegeometric design parameters on the static displacements is checked as well.Other machining operations can be modeled. This parametric stiffness analysiscan be applied to any parallel manipulator for which stiffness is a criticalissue.



Autor: Félix Majou IRCCyN, Robotics Laboratory, Clément Gosselin ROBOTICS Laboratory, Philippe Wenger IRCCyN, Damien Chablat IRCCyN

Fuente: https://arxiv.org/







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