Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method

Yan, Shuicheng; Ong, S. K.; Nee, A. Y. C.

doi:10.1016/j.rcim.2015.05.004

Cited by 81 publications

(42 citation statements)

References 20 publications

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“…Usually, the parallelogram does not essentially affect manipulator control and does not change manipulator direct/inverse kinematic equations. On the other hand, the quasi-serial manipulator stiffness model essentially differs from its serial counterpart since re-location of the manipulator compliant element (actuator #3 transmission) essentially influences the stiffness behaviour [15]. For this reason, previous results, which are obtained for strictly serial manipulators cannot be directly applied in such case.…”

Section: Figure 1 Architecture Of Typical Industrial Robotsmentioning

confidence: 98%

Stiffness of serial and quasi-serial manipulators: comparison analysis

et al. 2016

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Abstract. The paper deals with comparison analysis of serial and quasi-serial manipulators. It shows a difference between stiffness behaviours of corresponding industrial robots under external loading, which is caused by machining process. The analysis is based on the estimation of compliance errors induced by cutting forces that are applied to the manipulator end-effector. We demonstrate that the quasi-seral manipulators are preferable for large-dimensional tasks while the quasi-serial ones better suit small size tasks.

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Section: Figure 1 Architecture Of Typical Industrial Robotsmentioning

confidence: 98%

Stiffness of serial and quasi-serial manipulators: comparison analysis

et al. 2016

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“…For convenience, let us divide the longest link of the leg into two rigidly connected parts. This allows us to present each leg ( Figure 12) as a set of five flexible links (1,2), (3,4), (5,6), (7,8), (9,e) with passive connections of the nodes <2,3>, <4,5>, <6,7> and rigid connection of the nodes <6,9>. Besides, depending on the actuation mode, the boundary conditions induced by the motor/clutch mechanics can be specified as the passive connection of the nodes <0,8> and elastic connection of the nodes <0,1>, or vice versa.…”

Section: Illustrative Examples: Msa-based Analysis Of Navaro Manipulatormentioning

confidence: 99%

“…At present, there exist three main techniques in this area, that are Finite Element Analysis (FEA), Matrix Structural Analysis (MSA) and Virtual Joint Modeling (VJM) [3][4][5][6]. The most accurate of them is the FEA [7][8][9], which allows modeling links and joints with their true dimension and shape. However, this technique is usually applied at the final design stage because of the high computational expenses required for high order matrix inversion [10,11].…”

Section: Introductionmentioning

confidence: 99%

Fundamentals of manipulator stiffness modeling using matrix structural analysis

Klimchik

Pashkevich

Chablat

2019

Mechanism and Machine Theory

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The paper generalizes existing contributions to the stiffness modeling of robotic manipulators using Matrix Structural Analysis. It presents a unified and systematic approach that is suitable for serial, parallel and hybrid architectures containing closed-loops, flexible links, and rigid connections, passive and elastic joints, flexible and rigid platforms, taking into account external loadings and preloadings. The proposed approach can be applied to both under-constrained, fully-constrained and over-constrained manipulators in generic and singular configurations, it is able to produce either non-singular or rank-deficient Cartesian stiffness matrices in a semi-analytical manner. It is based on a unified mathematical formulation that presents the manipulator stiffness model as a set of two groups of matrix equations describing elasticity of separate links and connections between the links in the form of constraints. Its principal advantage is the simplicity of the model generation that includes straightforward aggregation of link/joint equations without conventional merging of rows and columns in the global stiffness matrix. The advantages of this method and its application are illustrated by an example that deals with the stiffness analysis of NaVaRo parallel manipulator.

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“…At present, there exist three main techniques in this area [2]: Finite Element Analysis (FEA), Matrix Structural Analysis (MSA) and Virtual Joint Modeling (VJM). The most accurate of them is the FEA [3], which allows modeling links and joints with their true dimension and shape. However, it is usually applied at the final design stage because of the high computational expenses.…”

Section: Introductionmentioning

confidence: 99%

Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators

Klimchik

Chablat

Pashkevich

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings. The manipulator stiffness model is presented as a set of basic equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. These equations are aggregated straightforwardly in a common linear system without traditional merging of the matrix rows and columns, which allows avoiding conventional manual transformations at the expense of numerical inversion of the sparse matrix of higher dimension.

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Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method

Cited by 81 publications

References 20 publications

Stiffness of serial and quasi-serial manipulators: comparison analysis

Stiffness of serial and quasi-serial manipulators: comparison analysis

Fundamentals of manipulator stiffness modeling using matrix structural analysis

Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators

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