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Abstract The 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,… Click to show full abstract
Abstract The 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.
Journal Title: IFAC-PapersOnLine
Year Published: 2018
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