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

Guanglei Wu, Ping Zou

Research output: Contribution to journalJournal articleResearchpeer-review

12 Citations (Scopus)

Abstract

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.
Original languageEnglish
JournalRobotica
Volume35
Issue number6
Pages (from-to)1310-1326
Number of pages17
ISSN0263-5747
DOIs
Publication statusPublished - 2017

Keywords

  • Biglide parallel grinder
  • Parallelogram
  • Stiffness decoupling
  • Principal stiffness

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