On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines

Coupled fluid-dynamical and structural analysis of a mono-axial mems accelerometer

“…Boundary conditions are applied to the endbeams linked to the frame in order to consider the clamped connection. Details of the applied method can be found in [15]. Concerning the damping matrix determination, we used a modified Reynolds equation approach that allows to keep into account the damping effect due to squeezed-film as well as to the slide-film.…”

Jacobian-based natural frequency analysis of parallel manipulators

“…To develop such an elastodynamic model, different approaches can be taken. For example, the Matrix Structural Analysis [23], Lagrange's equations [24,25], or recursive methods [26,27] have been used. Manipulator-specific analyses have also been performed [28,22].…”

The softness distribution index: towards the creation of guidelines for the modeling of soft-bodied robots

“…Correct estimation and appropriate modeling of the stiffness of a robotic system are crucial to avoid undesired vibrations, which may jeopardize the performances in operative conditions. Therefore, the topic has been addressed by several authors in their works (to mention a very few of them, Pashkevich et al (2009), Briot et al (2009), Cammarata (2012), Zhang et al (2015), Germain et al (2015), and Rognant et al (2010)). If the modeling of the stiffness plays such a key role for the so-called rigid -linked robots, it is easy to figure out that its importance is even greater for soft -bodied robots: in fact, they rely upon their low stiffness to perform a task, adapting their shape to the surrounding environment, often elegantly.…”