MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures

Abstract : The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator.
Type de document :
Communication dans un congrès
12TH IFAC SYMPOSIUM ON ROBOT CONTROL - SYROCO 2018 , Jun 2018, Budapest, Hungary. 2018
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01862858
Contributeur : Damien Chablat <>
Soumis le : lundi 27 août 2018 - 20:08:56
Dernière modification le : jeudi 6 septembre 2018 - 08:43:13

Identifiants

  • HAL Id : hal-01862858, version 1

Collections

Citation

Alexandr Klimchik, Anatol Pashkevich, Damien Chablat. MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures. 12TH IFAC SYMPOSIUM ON ROBOT CONTROL - SYROCO 2018 , Jun 2018, Budapest, Hungary. 2018. 〈hal-01862858〉

Partager

Métriques

Consultations de la notice

69