Advertisement

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)

Abstract

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.

Keywords

FEA Parallel manipulator Stiffness Stress 

References

  1. 1.
    Bouzgarrou B-C, Fauroux J-C, Gogu G, Heerah Y (2004) Rigidity analysis of T3R1 parallel robot with uncoupled kinematics. In; Proceedings 35th international symposium on robotics (confÈrence ISR’04), March 23–26, 2004, Pari—Nord Villepinte/France 6 p, CD-ROM fileGoogle Scholar
  2. 2.
    Ceccarelli M (2004) Fundamentals of mechanics of robotic manipulations. Kluwer Academic Publishers, BerlinCrossRefGoogle Scholar
  3. 3.
    Ganiev RF, Kasilov VP, Glazunov VA, Kovalev VE, Levin SV, Shaljukhin KA (2013) Patent of the Russian Federation 133045 spatial mechanism having self-stabilizing kinematical chains. 2013Google Scholar
  4. 4.
    Glazunov VA (1995) Principles of the construction and analysis of spatial parallel structure mechanisms. J Mach Manuf Reliab 1:10–15Google Scholar
  5. 5.
    Glazunov VA, Koliskor AS, Krainev AF (1991) Spatial parallel mechanisms. Nauka, Moscow, p 95 in RussianGoogle Scholar
  6. 6.
    Glazunov VA, Kovalev VE, Levin SV, Sukhorukov RY, Shaljukhin KA (2013) Patent of the Russian Federation 2478464 Modular robotic technologic machine, 2013Google Scholar
  7. 7.
    Rizk R (2012) Study of the accuracy and stiffness of parallel robots with decoupled motion. PHD, http://tel.archives-ouvertes.fr/tel-00698903
  8. 8.
    Tsai L-W (1999) Robot analysis: the mechanics of serial and parallel manipulators. Wiley, New JerseyGoogle Scholar

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

Personalised recommendations