MSA-technique for stiffness modeling of manipulators with complex and hybrid structures. Issue 22 (2018)

• Record Type: Journal Article
• Authors: Klimchik, A.; Pashkevich, A.; Chablat, D.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 22(2018)
• Page Start: 37
• Page End: 43
• Publication Date: 2018
• Subjects: Stiffness modeling -- parallel robots -- matrix structural analysis -- analytical computation; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.11.515
• Languages: English
• ISSNs: 2405-8963

Abstract

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.