The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear "load-deflection" relation and relevant rankdeficient stiffness matrix. An equivalent bar-type pseudo-rigid model is also proposed to describe the parallelogram stiffness by means of five mutually coupled virtual springs. The contributions of this paper are highlighted with a parallelogram-type linkage used in a manipulator from the Orthoglide family. © Springer Science+Business Media B.V. 2010.
CITATION STYLE
Pashkevich, A., Klimchik, A., Caro, S., & Chablat, D. (2010). Stiffness modelling of parallelogram-based parallel manipulators. In Mechanisms and Machine Science (Vol. 5, pp. 675–682). Kluwer Academic Publishers. https://doi.org/10.1007/978-90-481-9689-0_77
Mendeley helps you to discover research relevant for your work.