文章基本信息

标题：Stiffness modelling of serial under-constrained manipulators using matrix structural analysis
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作者：A. Klimchik ; A. Pashkevich
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：11
页码：710-715
DOI：10.1016/j.ifacol.2018.08.402
语种：English
出版社：Elsevier
摘要：AbstractThe paper deals with the stiffness modeling of under-constrained serial manipulators using matrix structural analysis. In contrast to previous works, the developed technique is suitable for manipulators with rigid, passive and elastic connections. It produces the Cartesian stiffness matrices in a semi-analytical manner. In the frame of this technique, the manipulator stiffness model is presented as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between the links. Several typical case-studies are presented that are common for industrial robotic manipulators.
关键词：KeywordsStiffness modelingserial robotsmatrix structural analysissemi-analytical computation