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Parametric stiffness analysis of the Orthoglide

✍ Scribed by F. Majou; C. Gosselin; P. Wenger; D. Chablat

Book ID: 104048227
Publisher: Elsevier Science
Year: 2007
Tongue: English
Weight: 905 KB
Volume: 42
Category: Article
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2006.03.018

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✦ Synopsis

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.

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