Finite Element Modeling and Analysis of an Isoglide-Type Parallel Manipulator to Determine Its Rigidity/Stiffness

  • A. KozyrevEmail author
  • V. Glazunov
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


Currently, in many industrial factories, in medical devices, in training aircraft, space and tank simulators and in other areas the robots based on the parallel manipulators are widely used or planned for the implementation. According this, the problem of choosing the particular manipulator, which is able to provide the best desired characteristics is rather acute because of the wide variety of specific designs. One of the main characteristics of manipulators of conventional structure and parallel structure is their stiffness under the different variants of loading by the external force. The aim of this work is to analyse the stiffness parameters of the three-dimensional model of the parallel manipulator of the Isoglide type, to identify weaknesses and to make proposals for the improvements of the manipulator in order to increase rigidity if it is necessary.


FEA Parallel manipulator Stiffness Stress 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Institute of Machines Science, (A.A. Blagonravov of the Russian Academy of Sciences)MoscowRussia

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