Performance Evaluation of Parallel Manipulators for Milling Application

  • A. Pashkevich
  • A. Klimchik
  • S. Briot
  • D. Chablat
Conference paper


This chapter focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the machining are defined. In this case, optimal synthesis task is solved as a multicriterion optimization problem with respect to the geometric, kinematic, kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness is an important performance factor. Previous models operate with links approximation and calculate stiffness matrix in the neighborhood of initial point. This is a reason why a new way for stiffness matrix calculation is proposed. This method is illustrated in a concrete industrial problem.


Performance evaluation Kinetostatic modeling Elastic errors Parallel manipulators Milling application 



The work presented in this chapter was partially funded by the Region “Pays de la Loire”, France and by the EU commission (project NEXT).


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • A. Pashkevich
    • 1
  • A. Klimchik
    • 1
  • S. Briot
    • 2
  • D. Chablat
    • 3
    • 4
  1. 1.Ecole des Mines de Nantes, IRCCyN UMR CNRS 6597Nantes Cedex 3France
  2. 2.Ecole Centrale de Nantes, IRCCyN UMR CNRS 6597Nantes Cedex 3France
  3. 3.Ecole Centrale de Nantes, IRCCyN UMR CNRS 6597Nantes Cedex 3France
  4. 4.Institut de Recherches en Communications et Cybernetique de NantesNantesFrance

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