Stiffness modeling of NAVARO II transmission system

Abstract : The paper deals with stiffness modeling of NAVARO II transmission system, which is a novel variable actuation mechanism based on active and passive pantographs. The desired models are obtained using the enhanced matrix structural analysis (MSA) approach that is able to analyze the under-actuated and over-constrained structures with numerous passive joints. Depending on the pantograph type, the models operate with the matrices of size 252x288 and 264x294 suitable for parametric optimization of the entire manipulator.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-02217257
Contributor : Damien Chablat <>
Submitted on : Wednesday, July 31, 2019 - 9:19:09 PM
Last modification on : Monday, August 19, 2019 - 4:51:58 PM

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MIM19_0745_FI.pdf
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  • HAL Id : hal-02217257, version 1

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A. Klimchik, Anatol Pashkevich, D. Chablat. Stiffness modeling of NAVARO II transmission system. 9th IFAC Conference Manufacturing Modelling, Management and Control MIM, Aug 2019, Berlin, Germany. ⟨hal-02217257⟩

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