Stiffness characteristics and kinematics analysis of two-link elastic underactuated manipulators

DOI10.1002/ROB.10031zbMATH Open1098.70502OpenAlexW1977651282MaRDI QIDQ4785236FDOQ4785236

Authors:

Publication date: 17 December 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10031

Recommendations

• Dynamics and Coupling Actuation of Elastic Underactuated Manipulators
• Enhanced stiffness modeling of manipulators with passive joints
• The dexterity and singularities of an underactuated robot
• Stiffness analysis of overconstrained parallel manipulators
• Effect of elastic compliance of links on the dynamics of a multi-link robot-manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Thin bodies, structures (74K99)

Cites Work

• Simulation and design of underactuated mechanical hands.
• Modelling and control of an under-actuated closed kinematic chain
• Title not available (Why is that?)

Cited In (9)

• Raising the stiffness of manipulators with lightweight links
• Enhanced stiffness modeling of manipulators with passive joints
• Sliding mode control for underactuated system with input constraint based on RBF neural network and Hurwitz stability analysis
• Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine
• Dynamics and Coupling Actuation of Elastic Underactuated Manipulators
• Determination of the stiffness of rolling kinematic pairs of manipulators
• Numerical simulation of bending stiffness analysis for spring linkage applied to in-pipe robot
• The dexterity and singularities of an underactuated robot
• Title not available (Why is that?)

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