Cartesian stiffness matrix of manipulators with passive joints: analytical approach

Anatol Pashkevich (1) , Alexandr Klimchik (1) , Stéphane Caro (1, 2, 3) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CNRS - Centre National de la Recherche Scientifique
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in 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.

Mots clés: Stiffness modeling; parallel manipulators; passive joints; kinetostatic singularities; recursive computations

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Alexandr Klimchik, Stéphane Caro, Damien Chablat. Cartesian stiffness matrix of manipulators with passive joints: analytical approach. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1-8, ⟨10.1109/IROS.2011.6094419⟩. ⟨hal-00610306⟩