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Parallel kinematic machine design with kinetostatic model

Published online by Cambridge University Press:  24 June 2002

Dan Zhang  and
Clément M. Gosselin
Dan Zhang
Affiliation:
Département de Génie Mécanique, Université Laval, Québec, Québec (Canada) G1K 7P4Dan.Zhang@nrc.ca
Clément M. Gosselin
Affiliation:
Département de Génie Mécanique, Université Laval, Québec, Québec (Canada) G1K 7P4gosselin@gmc.ulaval.ca
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Abstract

In this paper, a new method – named lumped kinetostatic modeling – to analyze the effect of the link flexibility on the mechanism's stiffness is provided. A new type of mechanism whose degree of freedom (dof) is dependent on a passive constraining leg connecting the base and the platform is introduced and analyzed. With the proposed kinetostatic model, a significant effect of the link flexibility on the mechanism's precision has been demonstrated. The influence of the change in structure parameters, including material properties, on the system behavior is discussed. In the paper, the geometric model of this kind of mechanism is first introduced. Then, a lumped kinetostatic model is proposed in order to account for joint and link compliances; some results and design guidelines are obtained. Finally, the optimization of the precision is addressed using a genetic algorithm.

Keywords

Kinetostatic modelLink flexibilityPrecision optimizationParallel mechanisms
Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 429 - 438
Copyright
© 2002 Cambridge University Press

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