Proceedings of the 2006 IEEE International Conference on Robotics and Automation
Orlando, Florida - May 2006
A Systematic Analytical Method
for PKM Stiffness Matrix Calculation
Dominique Deblaise, Xavier Hernot and Patrick Maurine
INSA de Rennes Laboratoire LGCGM EA3913
20, Av. des Buttes de Coësmes, CS 14315 F- 35043 Rennes Cedex France
dominique.deblaise@univ-rennes1.fr & patrick.maurine@insa-rennes.fr
Abstract – The purpose of this work is to propose a new approach
for the calculation of PKM stiffness matrix by using an analytical
method based on matrix structural analysis. This method has as
the main advantage to be systematic and it also can be applied to
hyper-static PKM stiffness analysis. The implementation of the
proposed method is fast and convenient and it can easily be
involved during PKM design optimization. Moreover, as the
stiffness matrix is obtained in a close form, it can be implemented
directly on the robot controller. In other words, the proposed
method could be used to reduce the gap existing between actual
PKM and those that have to meet the high accuracy
specifications required for machining applications.
At first this paper presents the proposed analytical method that
is applied to calculate the stiffness matrix of a Delta parallel
structure. Then the experimental results that have been done to
evaluate and validate its efficiency are presented.
Index Terms – Parallel Kinematic Machines, Static Elastic
Deformations, Stiffness Analysis.
I. INTRODUCTION
In many applications, stiffness is a very important
performance specification for Parallel Kinematic Machines
(PKM), because it is strictly related to accurate positioning
and high payload capability. Therefore it is very important for
PKM designer to enhance a realistic and real-time stiffness
model. For this purpose, intensive research works have been
recently done on this topic.
Three main methods have been used to derive the stiffness
model of a PKM. These methods are respectively based on:
‰ the calculation of the Jacobian matrix [1-6,15],
‰ the Finite Element Analysis (FEA) [9,10],
‰ the matrix structural analysis [7,8,11-14,16].
Concerning the calculation of the Jacobian matrix, one of
the first stiffness analyses has been conducted by Gosselin in
[1]. In that work, the stiffness of a PKM is mapped onto its
workspace by taking into account only the compliance of the
actuated joints whereas links are supposed as perfectly rigid.
This approach is also involved in [2,3]. To take into account
the link flexibility, this first model was supplemented by the
lumped model developed in [4]. Flexible links are then
replaced by rigid beams mounted on revolute joints plus
torsional spring located at the existing joints. That lumped
model is also used in [5,6].
FEA models are reliable, but these models have to be
remeshed over and over again, this results in a very tedious
0-7803-9505-0/06/$20.00 ©2006 IEEE
and time-consuming routines [7]. However these models are
well adapted to validate analytical models [2,8], or some
experimental results [9]. For example, in [10], a FEA model is
used to present static rigidity and natural frequencies of the
T3R1 parallel robot.
Methods based on matrix structural analysis are not so
often used. Under the assumption that the links are not subject
to bending, Clinton et al. [14] used this approach to derive the
stiffness matrix for each element of a Stewart platform and
then assemble individual ones into a system stiffness matrix.
This approach is also used in [7,8] to give the stiffness model
of a machine frame considered as a substructure. The
superposition principle is used to achieve the stiffness model
of the machine structure as a whole.
This paper is aimed at developing a new systematic and
analytical method based on matrix structural analysis for the
calculation of the stiffness matrix of PKM whose structures
are made with slender links. Hence, this approach fits well
with machines that can be modeled with beam elements, and it
allows to easily take into account all mechanical effects acting
on all elements of their structure. Because such a model is
based on strain energy, it is to be noted that the proposed
method is also well adapted for hyper-static structures.
In order to describe our method, this paper is divided in
four parts:
‰ Stiffness matrices and kinematic relations are
introduced first.
‰ The proposed method is presented and used to define
the stiffness matrix of a big sized Delta parallel
structure. This first analytical model is built under the
assumption that the robot joints are perfect. Then a
FEA model is used to simulate the physical structure
of the Delta and the FEA results are compared to those
obtained from this first analytical model.
‰ A second model is built, taking into account the joint
stiffness.
‰ In the last section, these two analytical models are
validated by using experiments based on displacement
measurements of the Delta Tool Center Point (TCP).
II. DESCRIPTION OF STIFFNESS MATRICES AND KINEMATIC
RELATIONS
The analytical stiffness model developed in this paper is
based on matrix structural analysis that allows to obtain the
structure model as a combination of beam elements and nodes.
4213
To complete the model, some kinematic relations have to be TABLE I
GEOMETRICAL AND MECHANICAL PARAMETERS
defined between nodes.
Geometrical
In order to present the method we first introduce the Parameters
Length & Cross-sectional area L & S
notion of nodal displacement and nodal wrench. The stiffness Mechanical Young’s & Coulomb’s modulus E & G
matrices and their manipulation as well as the kinematic Parameters Quadratic & Polar moments IY , I Z & J
relations used in this paper are then presented.

A. Nodal displacement and nodal wrench zb Beam 1

Expressed in the reference frame Ri of the beam Bi, the z2 1
xb x2
wrench acting on the node j is defined by 2
F j ª¬ FXj FYj FZj M Xj M Yj M Zj º¼ T . The corresponding Beam 2
(a) (b)
displacement due to Fj is ǻX j ª¬dPj į j º¼ T
, where Fig. 2 Studied structure and its beam and node model

dPj ª¬u j v j w j º¼ T
stands for the vector of the elastic linear For a beam defined by two nodes, the stiffness matrix is a
displacements and į j ª¬T Xj TYj T Zj º¼ T
stands for the vector of 12 dimensional square matrix. The stiffness matrix of the
beam 2 expressed in its local coordinate system R2 is defined
elastic rotation displacements (Fig. 1).
as follows:
y j' ª E2 S2
« L 0 0 0 0 0
 E2 S 2
0 0 0 0 0
º
»
TYj « 2
« 12 E2 I Z 2 6 E2 I Z 2
L2
12 E2 I Z 2 6 E2 I Z 2 »
»

yi y j '' yj « 0
« L2 3
0 0 0
L2 2
0
L23
0 0 0
L2 2 »
»
« »
x j '' T Xj « 0
« 0
12 E2 I Y 2
L2 3
0
6 E2 I Y 2
L2 2
0 0 0
12 E2 IY 2
L23
0
6 E2 IY 2
L2 2
0 »
»
« »
Bi « G2 J 2 G2 J 2 »
x j' « 0
«
«
0 0
L2
0 0 0 0 0
L2
0 0 »
»
»
« 0 6 E2 I Y 2 4 E2 I Y 2 6 E2 I Y 2 2 E2 IY 2 »
0 0 0 0 0 0 0
vj L2 2 L2 2
j xj
«
«
« 6 E2 I Z 2
L2
4 E2 I Z 2 6 E2 I Z 2
L2
2 E2 I Z 2 »
»
»
« 0 0 0 0 0 0 0 0
zi
xi T Zj zj '' wj
R2
K2 «
«  E2 S 2
L2 2 L2
E2 S 2
L2 2 L2 »»
»
(2)
uj « 0 0 0 0 0 0 0 0 0 0 »
z j' Fj
« L2
«
12 E2 I Z 2 6 E2 I Z 2
L2
12 E2 I Z 2
»
»
 6 E2 I Z 2 »
zj « 0
«
«
L2 3
0 0 0
L2 2
0
L23
0 0 0
L2 2 »
»
Fig. 1 Nodal wrench and nodal displacement. «
« 0 0
12 E2 IY 2
L2 3
0
6 E2 IY 2
L2 2
0 0 0
12 E2 IY 2
L23
0
6 E2 I Y 2
L2 2
0
»
»
« »
« G2 J 2 G2 J 2 »
« 0 0 0 0 0 0 0 0 0 0 »
« L2 L2 »

B. Stiffness matrices «
«
« 0 0
6 E2 I Y 2
L2 2
0
2 E2 I Y 2
L2
0 0 0
6 E2 I Y 2
L2 2
0
4 E2 IY 2
L2
0
»
»
»
« »
The stiffness matrix K links the nodal wrench to the «
« 0
«¬
6 E2 I Z 2
L2 2
0 0 0
2 E2 I Z 2
L2
0
6 E2 I Z 2
L2 2
0 0 0
4 E2 I Z 2 »
L2 »¼
»

nodal displacements. The stiffness matrix of an element « »

It can be expressed by using four sub-matrices as follows:

« »

depends on its geometrical and mechanical parameters [11-

ª R2 K112 R2
K122 º
13]. These parameters are summarized in Table I. R2
K2 « R2 2 R2 2 » (3)
With the aim of presenting the manipulation of stiffness ¬« K 21 K 22 ¼»
matrices, a simple structure (Fig. 2a) and its beam and node R
K 2 components can be obtained with respect to the global
2

model (Fig. 2b) is introduced. The parameters of the beam i coordinate system Rb by using the following relation:
(i= 1, 2) are: Li , Si , Ei , Gi , IYi , I Zi , and J i . Rb
K2 P 1 R2
K2 P (4)
For each beam subject to deformation, a stiffness matrix
is defined and expressed in the local frame of that beam. A ª R 03 03 03 º
«0 R 0 0 »
beam with one fixed tip is defined by one node corresponding with: P « 3 3 3»

to the other tip. The stiffness matrix of such a beam is a 6 «03 03 R 03 »

dimensional square matrix. The stiffness matrix of the beam 1 « »
¬«03 03 03 R ¼»
expressed in its local coordinate system Rb is then:
where R stands for the rotation matrix from the local
ª E1 S1 º coordinate system R2 to the global coordinate system Rb and
« L 0 0 0 0 0 »
« 1 »
« 12 E1 I Z 1 6 E1 I Z 1 » 0i is the (i x i) zero matrix. Finally Rb
K 2 can be expressed
« 0 0 0 0 »
« L13 2
L1 » within Rb according to:
« 12 E1 IY 1 6 E1 IY 1 »
« 0 0 0 0 » ª Rb K112 Rb
« L13 L12 » K122 º
Rb
K1 « » (1) Rb
K2 « Rb 2 Rb 2 » (5)
« 0 0 0
G1 J1
0 0 » «¬ K 21 K 22 »¼
« L1 »
«
« 0 6 E1 IY 1 4 E1 IY 1
» Stiffness assembly [11-13] is a technique involved in
0 0 0 »
« L12 L1 » matrix structural analysis in order to define the stiffness
« »
« 0 6 E1 I Z 1
0 0 0
4 E1 I Z 1 » matrix of a whole structure. For our structure, all the beam
«« L1 »¼»
¬ L12 stiffness matrices that are defined in the global coordinate
system Rb are then assembled according to the nodes as
follows:

4214
 ª Rb K 1  Rb K112 Rb
K122 º ª 0  LZ LY º
Rb
KT « Rb 2 2 »
(6) «L
¬ K 21 Rb
K 22 ¼ Lˆ vw « Z 0  LX »» (10)
«¬  LY LX 0 »¼
C. Kinematic relations between nodal displacements Relations (9) can be developed as:
The kinematic relations are used to model the passive ª dPv º
joints of the structure and also to model elements with a ª 03  I3 03 I3 º « įv » ª03,1 º
stiffness considered as infinite (rigid body). As we used « ˆ »« »
«0 » (11)
revolute joints and rigid bodies, only these relations are «¬  I 3 03 I3 L ¼ «dPw »
vw »
« » ¬ 3,1 ¼
introduced here. «¬ įw »¼
1) Revolute joint: let R atu ª¬ ax a y az º¼ T , be the unit b Finally (11), which gives the kinematic relations between
two nodal displacements of a rigid body, can be rewritten
tu tu tu

vector expressed in the global coordinate system Rb , that under the simplified form as:
defines the axis of a revolute joint between the two nodes t ª ǻX v º
and u. The unit vectors R stu ª¬ sx s y sz º¼ T and b ª¬ B
Bv , w º¼ « » 06,1 (12)
tu tu tu ¬ ǻX w ¼
Rb
ntu ª¬ nxtu n ytu nztu º¼ T
complete the coordinate system ª0  I3 º ª03 I 3 º
where B « 3 and Bv , w « .
¬ I3 03 »¼ ˆ »
O tu , Rb
stu , Rb
ntu , Rb
atu  . ¬« I 3 Lvw »¼
The characteristic of the revolute joint defined previously
is that all movements of the nodes t and u are the same except III. ANALYTICAL STIFFNESS STUDY OF A DELTA PARALLEL
the rotation around the joint axis R atu . This kinematic relation b
ROBOT. FIRST MODEL WITH PERFECT JOINT
can be defined by: the same linear displacements and the same A. Presentation of the Delta parallel robot
angular displacements along R ntu and R stu . b b
The proposed method that allows to define the analytical
Those joint properties can be described by using the stiffness matrix of a PKM has been applied to the big sized
following matrix relationship: Delta parallel robot of our laboratory (Fig. 3). The first model
ª dPt º developed in this section is built under the assumption that all
ª I3 03  I3 03 º « įt » ª03,1 º the robot joints are perfect.
« » (7)
«0 ȍtu 02,3  ȍtu »¼» «dPu » «0 » In order to obtain that model, the analytical stiffness of
¬« 2,3 « »
¬ 2,1 ¼ each of the three kinematic chain of the Delta is first
¬« įu ¼» evaluated, and then these three substructures are gathered into
ª sxtu s ytu sztu º one in order to obtain the stiffness model of the Delta whole
where ȍtu « » , I i stands for the i identity structure.
¬« nxtu n ytu nztu ¼» The objective of this study is to calculate the TCP
matrix, and 0i , j for the (i x j) zero matrix. displacements corresponding to the center of the mobile
Finally (7) which gives the kinematic relations between platform, when some external wrenches F act on the
two nodal displacements of a revolute joint leads to the structure elements.
following equation: zb yb
ª ǻX t º xb
ª¬ At ,u  At ,u º¼ « » 05,1 (8)
¬ ǻX u ¼ 750 mm
ª I3 03 º
where At ,u «0 .
¬ 2,3 ȍtu »¼
2) Rigid body motion: these kinematic relations are used
to model a small displacement of an element with a stiffness 950 mm
considered as infinite. The modeling of a rigid body motion Fig. 3 Delta parallel robot
defined by its nodes v and w is given by:
­° įv įw B. Study of one kinematic chain
® (9)
°̄dPv dPw  Lˆ vw įw The complete model of a kinematic chain that describes
where Lˆ vw indicates the skew-symmetric matrix defined by the the flexible links and the kinematic relations between nodes is
JJJJG T
defined in Fig. 4. Each kinematic chain is modeled with 7
components of the vector VW > LX LY LZ @ which is the beams and 5 revolute joints. The positions defined within the
vector linking the node v to the node w: robot reference frame of the different points as well as the
revolute joint axes of the Delta structure are obtained from the
geometrical models that are available in [17].

4215
 1) Stiffness study of one kinematic chain: For the k th As we have defined ǻX k as the vector gathering all the
 k 1, 2,3 kinematic chain, the stiffness matrices of each nodal displacements, the corresponding Fk vector that gathers
element expressed in their local coordinate system are (Fig. all the nodal wrenches is: Fk ª¬ F1k F2k ! F10k
T
F11k º¼ .
4):
R
kK
1 1
(the stiffness matrix of the arm), Rk K 2 (the stiffness 2

3) Energy study of one kinematic chain: The total

matrix of half a small side of the parallelogram), and Rk K 3 (the 3
potential energy principle states that the solutions of the
stiffness matrix of the long side of the parallelogram). structure displacements which satisfy the equilibrium
These matrices are defined with respect to the global conditions, are those that minimize its total potential energy
coordinate system Rb as follows: [11-13]. This total potential energy is given by the well-
Rb
K1 (13) known equation:
k
1
Rb
ª K 2 Rb
K º 2 V ǻX k T Rb
k K T ǻX k  ǻX k T Fk (18)
Rb
K2 «
k 11 k
»
12
(14) 2
k Rb 2 Rb 2
¬ K
k 21 k K ¼ 22 under the constraint expressed in (17): AT ǻX k k
025,1
ª Rkb K113 Rb
K123 º It means studying the conditions of extremum of the total
Rb
k K3 « Rb 3
k
3 »
(15)
¬ k K 21
Rb
k K 22 ¼ potential energy modified by adding the kinematic constraints
as follows:
T
All the beam stiffness matrices given in the global V V  ª¬ ATk ǻX k º¼ Ȝk (19)
coordinate system Rb are assembled according to the nodes as T
where Ȝk > Ȝ1k ... Ȝ25 k @ stands for the Lagrange multplicator
previously explained. In the following, the indice  Rb  and
vector corresponding to the 25 kinematic relations which have
index  k  have been suppressed in order to simplify the
been defined in (17).
writing of the matrix: The conditions of extremun of V are given by:
ªK1 06 06 06 06 06 06 06 06 06 06 º Rb T
° ǻX k V k K T ǻX k  Fk  ATk Ȝk 066,1

«
K112 K122
» ­’
« 06 06 06 06 06 06 06 06 06 »
(20)
«0 K 212 2
K 22  K112 K122 06 06 06 06 06 06 06 » ®
« 6 2 2
» °̄ ’ Ok V
ATk ǻX k 025,1
« 06 06 K 21 K 22 06 06 06 06 06 06 06 »
«
« 06 06 06 06 K113 K123 06 06 06 06 06 »
»
where ’ stands for the gradient.
Rb
k K « 06
«
06 06 06 3
K 21 3
K 22 06 06 06 06 06 »
»
(16) Equation (20) allows to define the following linear
« 06 06 06 06 06 06 K113 K123 06 06 06 »
«0
« 6 06 06 06 06 06 3
K 21 3
K 22 06 06 06 »» system:
« 06
«
06 06 06 06 06 06 06 K112 K122 06 »
» ª Rkb K T ATk T º ª ǻX k º ª Fk º
« 06 06 06 06 06 06 06 06 K 212 K 222  K112 K122 » « »« » «0 » (21)
¬« ATk 025 ¼» ¬ Ȝk ¼
«« 0 06 06 06 06 06 06 06 06 K 2
K 222 »»¼
¬« 6 21 » ¬ 25,1 ¼
2 R1
Equation (21) can be simplified as:
R2 K Gk ǻX Gk FGk (22)
R3
K 3 5
R1
k
k K1 Rb T
ª KT k ATk º ª ǻX k º ª Fk º
6 3
4
Node where K G « » , ǻX Gk « Ȝ » and FGk «0 » .
¬« ATk 025 ¼»
k
¬ k ¼ ¬ 25,1 ¼
Flexible
9 7 link If the boundary conditions are perfectly defined,
10
R2
K2 R3 preventing any possibilities of overall displacement of the
k Revolute
11 8 joint structure, the stiffness matrix K G is symmetric positive k
Fig. 4 Model of a kinematic chain
definite and then invertible. Hence the solution of (22) can be
obtain as follows:
2) Kinematic relations study of one kinematic chain: Each
ǻX G K G 1 FG (23)
kinematic chain is composed by 5 revolute joints and the k k k

characteristics of each revolute joint are defined by (8) It is possible to calculate the displacement only at the
according to explanations given in section II.C.1. Assembling node 10, which is the node linking the kinematic chain to the
all these characteristics into a unique relation gives: mobile platform. The permutation matrix Pk is defined, in
AT ǻX k 025,1 (17) k
such a way to give the following partition:
where ǻX P Pk 1 ǻX G ª¬ ǻX R ǻX 10 º¼ T
k
(24)
k k k
ª A1,3k 05,6  A1,3k 05,6 05,6 05,6 05,6 05,6 05,6 05,6 05,6 º
«
« 05,6 A2,5k 05,6 05,6  A2,5k 05,6 05,6 05,6 05,6 05,6 05,6 »
»
FPk Pk 1FGk ª¬ FRk F10k º¼ T
(25)
A Tk «
« 05,6 05,6 05,6 A4,7k 05,6 05,6  A4,7k 05,6 05,6 05,6 05,6 »
»
«0 05,6 05,6 05,6 05,6 A6,9k 05,6 05,6  A6,9k 05,6 05,6 » ª K R , Rk K R ,10k º
« 5,6 » K Pk Pk 1 K Gk Pk « » (26)
«¬ K10, Rk K10,10k »¼
«« 05,6 05,6 05,6 05,6 05,6 05,6 05,6 A8,11k 05,6 05,6  A8,11k »»¼
¬
T
and ǻX k ª¬ ǻX 1k ǻX 2k ! ǻX 10k ǻX 11k º¼ . where indice ( R) stands for the rest of the nodes, that is to say
all nodes except node 10.

4216
 According to this partition, (22) is modified into the 2 5
K St2 F7
following equation: Node
ª K R , Rk K R ,10k º ª ǻX Rk º ª FRk º FSt2 4 1
K St1 Flexible link
« »« » « » (27)
FSt3 Rigide link
¬« K10, Rk K10,10k ¼» ¬« ǻX 10k ¼» ¬« F10k ¼» 7
K St3 Revolute joint
Expansion of (27) leads to FSt1
6
­° K R , Rk ǻX Rk  K R ,10k ǻX 10k FRk 3
® (28) Fig. 6 Equivalent Delta structure.
°̄ K10, Rk ǻX Rk  K10,10k ǻX 10k F10k
The solution of (28) is:
The permutation matrix P is defined in such a way to
ǻX10k K Stk 1FStk (29) give the displacement at the node 7 (Fig. 6) corresponding to
where FStk F10k  K10, Rk K R , Rk 1FRk (30) the Delta TCP . The following partitions are defined:
and K Stk 1
K10,10k  K10, Rk K R , Rk K R ,10k (31) ǻX P P 1 ǻX G > ǻX R ǻX 7 @ T (35)
th
Finally the k kinematic chain is replaced by one FP P 1FG > FR F7 @ T (36)
equivalent flexible link with one node. The stiffness of this ª K R, R K R ,7 º
link and the wrench acting at the node are respectively given K P P 1 K G P «K (37)
«¬ 7, R K 7,7 »»¼
by K St , and FSt (Fig. 5).
k k
where indice ( R) stands for the rest of the nodes
K Stk FStk R (1, 2,...,6) .
10
According to these partitions, (34) is transformed into the
10 following equation:
ª K R, R K R ,7 º ª ǻX R º ª FR º
«K (38)
Fig. 5 Equivalent link of the kth kinematic chain ¬ 7, R K 7,7 »¼ «¬ ǻX 7 »¼ «F »
¬ 7¼
The displacement of the 7th node is obtained according to:
C. Study of the whole Delta structure
ǻX 7 K St 1FSt (39)
To model the whole Delta structure, the three kinematic
chains are assembled to the mobile platform which is assumed where FSt F7  K 7, R K R , R FR 1
(40)
to be perfectly rigid. The model of this equivalent Delta and K St K 7,7  K 7, R K R , R 1 K R ,7 (41)
structure is given in Fig. 6.
According to this model, we can define the stiffness
D. Comparison to a FEA model.
matrix of the whole structure:
ª K St1 06 06 º A FEA model is used to simulate the physical structure,
« » and the results given by this model are compared to those
0
« 6 K 06 018,24 »
Rb
KT
St2
obtained from the analytical model developed previously.
«0 06 K St3 » (32)
« 6 » CASTEM£ software is used to implement the model of the
«
¬ 024,18 024 »¼ Delta parallel robot. All the links of the structure are modeled
by beam elements. The assumption of a rigid mobile platform
and the matrix gathering all the kinematic relations: is made since the corresponding beam element Young
ª A1,4 05,6 05,6  A1,4 05,6 05,6 05,6 º modulus is chosen 107 times more than of the steel one.
«0 05,6 »»
« 5,6 A2,5 05,6 05,6  A2,5 05,6 For example, one robot configuration corresponding to
« 05,6 05,6 A3,6 05,6 05,6  A3,6 05,6 » the actuated joint values: q1 15q, q2 45q and q3 75q , is
AT « » (33)
« 06 06 06 B 06 06 B4,7 » given here to compare the analytical model with the FEA one.
«0 06 06 06 B 06 B5,7 »
« 6 » The applied wrench on the TCP is:
¬« 06 06 06 06 06 B B6,7 ¼» F >100 N 50 N 200 N 3mN 5mN 9mN @ T .
The relation given by the energy study (part III B 3), of As shown in Table II, the analytical model does fit with
the whole structure is: the FEA one and intensive simulations have also shown the
K G ǻX G FG (34) reliability of the model obtained through the proposed
ª Rb K T AT T º ª ǻX º method.
where K G « » , and ǻX G « Ȝ » Note that this analytical model is developed under
¬« AT 033,33 ¼» ¬ ¼
T
Matlab£ software with the use of sparse matrix function. The
ǻX > ǻX1 ǻX 2 ! ǻX 6 ǻX 7 @ stands for the nodal calculation time for one robot configuration is less than 0.05
displacements; Ȝ stands for the Lagrange multiplicator vector second on a PIV 2.4Ghz. That is to say that a C language
of the whole structure, and model could be involved in real-time calculation of the Delta
FG ª¬ FSt FSt FSt F4 F5 F6 F7 033,1 º¼ T stands for the stiffness to compensate the TCP positioning errors due to
1 2 3
static elastic deformations.
nodal wrenches.

4217
 TABLE II axis is applied on the mobile platform, and the resulting
COMPARISON BETWEEN ANALYTICAL MODEL AND FEA MODEL
displacements along x, y and z axis are measured (Fig. 8). The
Displacement
6
test is carried out with 11 measurement points distributed on
Model dP ( P m ) G (10 rad ) the line of equation y  x in the plane z = -1478 mm. This
u v w Tx Ty Tz first test is used to experimentally estimate the joint stiffness
Analytical parameters. Another test is carried out by using 11 other
model
-73.1 -418.4 -875.4 367.7 -1369.7 286.5
FEA measurement points distributed on the line of equation y x
-73.1 -418.4 -875.5 367.7 -1369.8 286.5
model
in the plane z = -1326 mm. Note that for the Delta parallel
robot all these points do not represent any particular
IV. ANALYTICAL STIFFNESS STUDY OF A DELTA PARALLEL configurations.
ROBOT. SECOND MODEL INCLUDING JOINT STIFFNESS The experimental measuring setup is made of 3 accurate
dial indicators of 1 Pm resolution mounted on the mobile
The joint stiffness is taken into account by replacing the platform. This system is used to measure a standard sphere
kinematic relations of a revolute joint by a joint stiffness (Fig. 8). Elastic deformations of the structure are not measured
matrix. In a first approach [18], we make the assumption that on the TCP, but on the sphere center level, which introduces
the joint stiffness matrix expressed in its local coordinate an offset that must be taken into account in the models by
system R ' between nodes e and f is given by: introducing a rigid link between the TCP (node 7 in Fig.6) and
'
R'
ª R Kj  K j ef º the measured point. The models described in section III and
R'
K ef « ef
» (42)
«  R' K R' IV are modified to take into account this rigid link.
K j ef »
«¬ j ef
»¼ All experimental results are summarized in Fig. 9.
with: R'
K jef diag ª K aef K ref K ref K aref K rref K rref º
Concerning the first model, these graphs show that the
¬ ¼ calculated displacements (dotted lines) are lower than the
where K a ef
, K r ef , K ar ef and K rr ef stand respectively for: the corresponding real displacements. In other words, that is to
axial, the radial, the axial rotational and the radial rotational say that the calculated stiffness is under-estimated. These
stiffness of the revolute joint between nodes e and f. graphs also show that the calculated displacements given by
As we do not know the theoretical values of these the second model (plain line) are closer to the corresponding
parameters, they have been defined experimentally. First, real displacements. These graphs show that the joint stiffness
some numerical simulations allowed defining the most has to be considered as a very important parameter that has to
influent parameters. Then, these influent parameters were be taken into account. They do allow to obtain more realistic
estimated by experimental stiffness measurements on the elastic deformation calculations even for a big sized Delta
Delta parallel structure. parallel structure.
If the joint is a passive joint, the axial rotational stiffness
K ar is close to zero. However, if K ar
ef
0 the numerical ef

calculation becomes unstable. Therefore, it is chosen equal to

10-7 N.rad-1.

A. Analytical stiffness study of the Delta structure including

joint stiffness
The complete modeling of a kinematic chain which gives
the flexible links and the joints stiffness is defined in Fig. 7.
Based on this new kinematic chain modeling, the
complete model of the Delta parallel robot is achieved by
using the same method as the one involved to obtain the first
model in section III.
4 11
1 7 8 stiffness matrices. The originality of that method in
3 10
5 6
2 9
Fig. 7 Model of a kinematic chain including joint stiffness
V. EXPERIMENTAL VALIDATIONS
To validate the proposal method, some experimental
validations are conducted. A force of -200 N acting along z-
Fig. 8 Experimental setup
V. CONCLUSION AND FUTURE WORKS
In this paper, a method based on matrix structural analysis is
developed in order to perform the calculation of the PKM
Flexible link comparison to those that have already been proposed is that
Joint stiffness
this calculation can be achieved analytically in a systematic
manner by considering all the mechanical loadings that affect
the PKM structure links. It is to be noted that the method can
also be used for hyper-static structures. Moreover, in order to
obtain a more realistic model of their elastic deformations, the
method allows to integrate more complex effects as joint
stiffness that also degrade the machine positioning accuracy.
This results in a model that does fit better with the real elastic

4218
behavior of the PKM. The low calculation time is another compared to experimental results in order to show the
advantage that should allow to implement the elastic efficiency of the proposed approach.
deformation model directly onto the machine controllers, in Future works concern now the use of this method to
order to obtain a real-time elastic deformation compensation. integrate analytical elastic deformation models within
The main principle of the proposed method is first geometrical calibration procedures to improve both
explained and then applied to a Delta parallel structure. The geometrical and elastic positioning accuracy. This would lead
simulation results that have been obtained analytically are then to perform an efficient elastic geometrical calibration of PKM.
Test 1: TCP displacement along x-axis Test 1: TCP displacement along y-axis Test 1: TCP displacement along z-axis
1.5 1.6 -0.1

1.4
Experimental points -0.2
x displacement (mm)

y displacement (mm)
First Model

z displacement (mm)
1 1.2
-0.3

1
Second Model -0.4
0.5 0.8
-0.5
0.6
-0.6
0 0.4
-0.7
0.2

-0.8
-0.5 0

-0.2 -0.9

-1 -0.4 -1
-400 -300 -200 -100 0 100 200 300 400 -400 -300 -200 -100 0 100 200 300 400 -400 -300 -200 -100 0 100 200 300 400
Position along the test line (mm) Position along the test line (mm) Position along the test line (mm)
(a) Test 1: line of equation y = -x in the plane z = -1478 mm

Test 2: TCP displacement along x-axis Test 2: TCP displacement along y-axis Test 2: TCP displacement along z-axis
0.6 0.6 -0.1

0.4 0.4 -0.2

x displacement (mm)

y displacement (mm)

z displacement (mm)
0.2 0.2 -0.3

0 0 -0.4

-0.2 -0.2 -0.5

-0.4 -0.4 -0.6

-0.6 -0.6 -0.7

-0.8 -0.8 -0.8

-400 -300 -200 -100 0 100 200 300 400 -400 -300 -200 -100 0 100 200 300 400 -400 -300 -200 -100 0 100 200 300 400
Position along the test line (mm) Position along the test line (mm) Position along the test line (mm)
(b) Test 2: line of equation y = x in the plane z = -1326 mm
Fig. 9 Measured and simulated displacements

REFERENCES
[10]B.C. Bouzgarrou, J.C. Fauroux, G. Gogu, and Y. Heerah, “Rigidity
[1] C.M. Gosselin, “Stiffness mapping for parallel manipulator,” IEEE analysis of T3R1 parallel robot with uncoupled kinematics,” Proc. of
Trans. on Robotics and Automation, vol. 6, pp 377-382, June 1990. the 35th International Symposium on Robotics, Paris, France, March
[2] B.S. El-Khasawneh, and P.M. Ferreira, “Computation of stiffness and 2004.
stiffness bounds for parallel link manipulator,” Int. J. Machine Tools & [11]H. C. Martin, “Introduction to matrix methods of structural analysis,”
manufacture, vol. 39(2), pp 321-342, February 1999. McGraw-Hill Book Company, 1966.
[3] D. Zhang, F. Xi, C.M. Mechefske, and S.Y.T Lang, “Analysis of [12]C.K. Wang, “Matrix methods of structural analysis,” International
parallel kinematic machine with kinetostatic modeling method,” Textbook Company, 1966.
Robotics and Computer-Integrated Manufacturing, vol. 20(2), pp 151- [13]J. F. Imbert, “Analyse des structures par elements finis,” Cepadues
165, April 2004. Editions, 1979.
[4] D. Zhang, “Kinetostatic analysis and optimization of parallel and [14]C.M. Clinton, G. Zhang, and A.J. Wavering, “Stiffness modeling of a
hybrid architectures for machine tools,” Ph.D Thesis, Laval University, Stewart-platform-based milling machine,” Trans. of the North America
Quebec, Canada, April 2000. Manufacturing Research Institution of SME, Vol. XXV, pp 335-340,
[5] C.M. Gosselin, and D. Zhang, “Stiffness analysis of parallel Lincoln, NB, US, May 20-23 1997.
mechanisms using a lumped model,” Int. J. of Robotics and [15]O. Company, F. Pierrot, and J.C. Fauroux, “A method for modeling
Automation, vol. 17, pp 17-27, 2002. analytical stiffness of a lower mobility parallel manipulator,” Proc. of
[6] F. Majou, C.M. Gosselin, P. Wenger, and D. Chablat, “Parametric IEEE ICRA: Int. Conf. On Robotics and Automation, Barcelona, Spain,
stiffness analysis of the orthoglide,” Proc. of the 35th International April 18-25 2005.
Symposium on Robotics, Paris, France, March 2004. [16]W. Dong, Z. Du, and L. Sun, “Stiffness influence atlases of a novel
[7] T. Huang, X. Zhao, and D.J. Whitehouse, “Stiffness estimation of a flexure hinge-based parallel mechanism with large workspace,” Proc.
tripod-based parallel kinematic machine,” IEEE Trans. on Robotics and of IEEE ICRA: Int. Conf. On Robotics and Automation, Barcelona,
Automation, Vol. 18(1), February 2002. Spain, April 18-25 2005.
[8] Y.W. Li, J.S. Wang, and L.P. Wang, “Stiffness analysis of a Stewart [17]D. Deblaise, and P. Maurine, “Effective geometrical calibration of a
platform-based parallel kinematic machine,” Proc. of IEEE ICRA: Int. Delta parallel robot used in neurosurgery,” proc. of IEEE IROS Int.
Conf. On Robotics and Automation, Washington, US, May 11-15 2002. Conf. On Intelligent Robots and Systems, Edmonton, Canada, August
[9] C. Corradini, J.C. Fauroux, S. Krut, and O. Company, “Evaluation of a 2-6 2005.
4 degree of freedom parallel manipulator stiffness,” Proc of the 11th [18]W.K. Yoon, T. Suehiro, Y. Tsumaki, and M. Uchiyama, “Stiffness
World Cong. in Mechanism & Machine Science, IFTOMM’2004, analysis and design of a compact modified Delta parallel mechanism,”
Tianjin, China, April 1-4 2004. Robotica, Vol. 22(5), pp 463-475, September 2004.

4219