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

DOI10.1002/ROB.10031MaRDI QIDQ4785236zbMATH OpenOpenAlexFDO

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

Mathematics Subject Classification ID

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

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

Cites work

• scientific article; zbMATH DE number 1462742 (Why is no real title available?)
• Modelling and control of an under-actuated closed kinematic chain
• Simulation and design of underactuated mechanical hands.

Cited in

(9)

• Raising the stiffness of manipulators with lightweight links
• Enhanced stiffness modeling of manipulators with passive joints
• Design and experimental study of the SPKM165, a five-axis serial-parallel kinematic milling machine
• Sliding mode control for underactuated system with input constraint based on RBF neural network and Hurwitz stability analysis
• 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
• scientific article; zbMATH DE number 4143561 (Why is no real title available?)

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