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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.
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https://hal.archives-ouvertes.fr/hal-01862858
Contributor : Damien Chablat <>
Submitted on : Monday, August 27, 2018 - 8:08:56 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:40 PM

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  • HAL Id : hal-01862858, version 1

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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. ⟨hal-01862858⟩

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