Enhanced stiffness modeling of manipulators with passive joints
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Publication:548830
DOI10.1016/J.MECHMACHTHEORY.2010.12.008zbMATH Open1385.70022arXiv1104.0769OpenAlexW2032539430WikidataQ57086198 ScholiaQ57086198MaRDI QIDQ548830FDOQ548830
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat
Publication date: 30 June 2011
Published in: Mechanism and Machine Theory (Search for Journal in Brave)
Abstract: The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints. Simulation examples are presented that deal with parallel manipulators of the Ortholide family and demonstrate the ability of the developed methodology to describe non-linear behavior of the manipulator structure such as a sudden change of the elastic instability properties (buckling).
Full work available at URL: https://arxiv.org/abs/1104.0769
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Cited In (14)
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- Stiffness characteristics and kinematics analysis of two-link elastic underactuated manipulators
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- Comprising of Elastostatic and Elastodynamic Modeling for Compliance Error Compensation in Bipedal Robot
- The spatial conservative congruence transformation for manipulator stiffness modeling with coordinate and noncoordinate bases
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