Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators

Abstract : The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings. The manipulator stiffness model is presented as a set of basic equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. These equations are aggregated straightforwardly in a common linear system without traditional merging of the matrix rows and columns, which allows avoiding conventional manual transformations at the expense of numerical inversion of the sparse matrix of higher dimension.
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Communication dans un congrès
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control , Jun 2018, Rennes, France. 〈https://romansy2018.ls2n.fr/〉
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Contributeur : Damien Chablat <>
Soumis le : vendredi 25 mai 2018 - 14:46:30
Dernière modification le : mardi 5 juin 2018 - 08:54:48

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  • HAL Id : hal-01800044, version 1
  • ARXIV : 1805.11366

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Alexandr Klimchik, Damien Chablat, Anatol Pashkevich. Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators. 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control , Jun 2018, Rennes, France. 〈https://romansy2018.ls2n.fr/〉. 〈hal-01800044〉

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