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The paper focuses on the accuracy improvement of stiffness models forparallel manipulators, which are employed in high-speed precision machining. Itis based on the integrated methodology that combines analytical and numericaltechniques and deals with multidimensional lumped-parameter models of thelinks. The latter replace the link flexibility by localized 6-dof virtualsprings describing both translational/rotational compliance and the couplingbetween them. There is presented detailed accuracy analysis of the stiffnessidentification procedures employed in the commercial CAD systems (includingstatistical analysis of round-off errors, evaluating the confidence intervalsfor stiffness matrices). The efficiency of the developed technique is confirmedby application examples, which deal with stiffness analysis of translationalparallel manipulators.

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators