Anatoly Pashkevich

Alexandr Klimchik, Anatoly Pashkevich, Damien Chablat et al.

The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.

Alexandr Klimchik, Anatoly Pashkevich, Stéphane Caro et al.

The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the general case and allow obtaining the desired matrix either in analytical or numerical form. Advantages of the developed technique and its ability to produce both singular and non-singular stiffness matrices are illustrated by application examples that deal with stiffness modeling of two Stewart-Gough platforms.