Sébastien Briot
Performance evaluation of parallel manipulators for milling application.
Fri, 12/10/2010 - 16:01 — SomNambulAuthors: Damien Chablat, Sébastien Briot, Anatoly Pashkevich, Alexandr Klimchik
Subjects: Robotics
AbstractThis paper 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.On the optimal design of parallel robots taking into account their deformations and natural frequencies.
Wed, 09/02/2009 - 12:02 — SomNambulAuthors: Damien Chablat, Sébastien Briot, Anatoly Pashkevich
Subjects: Robotics
AbstractThis paper discusses the utility of using simple stiffness and vibrations
models, based on the Jacobian matrix of a manipulator and only the rigidity of
the actuators, whenever its geometry is optimised. In many works, these
simplified models are used to propose optimal design of robots. However, the
elasticity of the drive system is often negligible in comparison with the
elasticity of the elements, especially in applications where high dynamic
performances are needed.
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