Stiffness Estimation of a 2-DoF Parallel Kinematic Machine

Author

Darvekar, Sanjay K. ; Rao, A.B.K. ; Praveen, J.V.S.

Author_Institution

Dept. of Mech. Eng., Pimpri Chinchwad Coll. of Eng., Pune, India

fYear

2015

fDate

26-27 Feb. 2015

Firstpage

23

Lastpage

28

Abstract

This paper presents stiffness of 2-degrees of freedom Parallel Kinematic Machine (PKM). The behavior of PKM is an isotropic, and depends on the tool position within the workspace. It is highly essential to study the variation of stiffness within the workspace as it affects the machining performance. The kinematic and kinetostatic modeling of a planar, two-degree of freedom, generic PKM with prismatic actuator (carriage) has been carried out. Stiffness variation in workspace was studied. Modeling of PKM was done in CAD software and stiffness was estimated by using ANSYS software. The Stiffness was also estimated by formulating a model of each substructure by using empirical equations based on inverse kinematic equations. Finally, a comparison is made between the stiffness obtained by FEM model and the empirical model. The study shows the effect of tool position within the workspace upon stiffness of the PKM.

Keywords

CAD; actuators; elasticity; finite element analysis; mechanical engineering computing; robot kinematics; 2-DoF parallel kinematic machine; ANSYS software; CAD; FEM; inverse kinematic equations; machining; prismatic actuators; stiffness estimation; Assembly; Fasteners; Finite element analysis; Jacobian matrices; Kinematics; Lead; Mathematical model; Empirical model; FEM model; Parallel kinematic machine; Stiffness;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing Communication Control and Automation (ICCUBEA), 2015 International Conference on

Conference_Location

Pune

Type

conf

DOI

10.1109/ICCUBEA.2015.15

Filename

7155802