文章基本信息

标题：MSA-technique for stiffness modeling of manipulators with complex and hybrid structures
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作者：A. Klimchik ; A. Pashkevich ; D. Chablat 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：37-43
DOI：10.1016/j.ifacol.2018.11.515
语种：English
出版社：Elsevier
摘要：AbstractThe 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.
关键词：KeywordsStiffness modelingparallel robotsmatrix structural analysisanalytical computation