文章基本信息

标题：Stiffness modeling of NAVARO II transmission system
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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：2019
卷号：52
期号：13
页码：701-706
DOI：10.1016/j.ifacol.2019.11.151
语种：English
出版社：Elsevier
摘要：The paper deals with stiffness modeling of NAVARO II transmission system, which is a novel variable actuation mechanism based on active and passive pantographs. The desired models are obtained using the enhanced matrix structural analysis (MSA) approach that is able to analyze the under-actuated and over-constrained structures with numerous passive joints. Depending on the pantograph type, the models operate with the matrices of size 252x288 and 264x294 suitable for parametric optimization of the entire manipulator.
关键词：Keywordsparallel robotsvariable actuation transmissionstiffness analysisMSA technique