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Stiffness analysis and comparison of a Biglide parallel grinder with alternative spatial modular parallelograms

Published online by Cambridge University Press:  08 February 2016

Guanglei Wu Open the ORCID record for Guanglei Wu [Opens in a new window]  and
Ping Zou
Guanglei Wu*
Affiliation:
Department of Mechanical and Manufacturing Engineering, Aalborg University, 9220 Aalborg, Denmark
Ping Zou
Affiliation:
School of Mechanical Engineering and Automation, Northeastern University, 110819 Shenyang, P. R. China. E-mail: pzou@mail.neu.edu.cn
*
*Corresponding author. E-mail: gwu@m-tech.aau.dk
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Summary

This paper deals with the stiffness modeling, analysis and comparison of a Biglide parallel grinder with two alternative modular parallelograms. It turns out that the Cartesian stiffness matrix of the manipulator has the property that it can be decoupled into two homogeneous matrices, corresponding to the translational and rotational aspects, through which the principal stiffnesses and the associated directions are identified by means of the eigenvalue problem, allowing the evaluation of the translational and rotational stiffness of the manipulator either at a given pose or the overall workspace. The stiffness comparison of the two alternative Biglide machines reveals the (dis)advantages of the two different spatial modular parallelograms.

Keywords

Biglide parallel grinderParallelogramStiffness decouplingPrincipal stiffness
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1310 - 1326
Copyright
Copyright © Cambridge University Press 2016 

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