Stiffness analisys of the Tripteron parallel manipulator

Kirsanov, Daniil V.; Sevostianov, Ilia; Rodionov, Oleg; Ostanin, Mikhail

doi:10.1109/nir50484.2020.9290208

Cited by 3 publications

(1 citation statement)

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“…To address the accuracy problem, stiffness analysis can be considered as a best practice because it allows us to calculate the deflections at the EE under an applied external load and thus to improve the overall accuracy by calculating the difference between the desired pose and the actual pose of the robot [3]. In the literature, three main approaches to stiffness modeling are determined.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Modeling of a Double Pantograph Transmission System: Comparison of VJM and MSA Approaches

Shaker¹,

Klimchik²

2022

Nelin. Dinam.

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This paper deals with the stiffness modeling of the double pantograph transmission system. The main focus is on the comparison analysis of different stiffness modeling approaches: virtual joint modeling (VJM) and matrix structural analysis (MSA). The aim of this work is to investigate the limitations of the considered approaches. To address this issue, corresponding MSA-based and VJM-based stiffness models were derived. To evaluate the deflections of the end effector, the external loads were applied in different directions at multiple points in the robot workspace. The computational cost and the difference in end-effector deflections were studied and compared. MSA was found to be 2 times faster than VJM for this structure. The results obtained showed that the MSA approach is more appropriate for the double pantograph mechanism.

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Section: Introductionmentioning

confidence: 99%