Performance Evaluation of Parallel Manipulators for Milling Application
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.
KeywordsPerformance 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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