A systematic analytical method for PKM stiffness matrix calculation

Deblaise, Dominique; Hernot, Xavier; Maurine, Patrick

doi:10.1109/robot.2006.1642350

Cited by 109 publications

(115 citation statements)

References 8 publications

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“…These methods are based on the Jacobian matrix [20][21][22]; the Finite Element Analysis (FEA) [23][24] and the Matrix Structural Analysis (MSA) [19,[25][26][27][28].…”

Section: Models For Stiffness Analysismentioning

confidence: 99%

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

Gonçalves¹,

Carvalho²,

Carbone³

et al. 2010

TOMEJ

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Parallel manipulators have various advantages over serial robots but they have a few drawbacks mainly referring to stiffness and singularities. Close to or in singular configurations the structure can not resist an external wrench applied to the mobile platform, therefore it may have uncontrolled movements. The study of the stiffness becomes of primary importance to design multibody robotic systems in order to properly choose materials, component geometry, shape and size, and the interaction of each component with others. This paper addresses the problem of a numerical evaluation of the structure stiffness by using the Matrix Structural Analysis when considering both links and joint stiffness, and by analyzing the singularity through stiffness performance indices. In order to prove the feasibility of the methodology for design purposes, the case for 5R parallel manipulator is formulated by comparing several stiffness performance indices.

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“…These methods are based on the Jacobian matrix [20][21][22]; the Finite Element Analysis (FEA) [23][24] and the Matrix Structural Analysis (MSA) [19,[25][26][27][28].…”

Section: Models For Stiffness Analysismentioning

confidence: 99%

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

Gonçalves¹,

Carvalho²,

Carbone³

et al. 2010

TOMEJ

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“…Consequently, the absolute positioning accuracy of manipulators can be improved by kinematic calibration. On the other hand, there are a few studies about non-kinematic calibration [6][7][8][9][10][11]. This is because nongeometric factors are complicated to analyze.…”

Section: Introductionmentioning

confidence: 99%

Multi-Parameter Based Calibration of Long-Link Flexible Manipulators

Liu¹,

Song²,

Xing³

et al. 2018

Proceedings of the 2017 2nd International Conference on Electrical, Control and Automation Engineering (ECAE 2017)

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“…However, this method is usually applied at the final design stage because of the high computational expenses [7]. The MSA method [8] incorporates the main ideas of the FEA, but operates with rather large elements -3D flexible beams. This obviously leads to the reduction of the computational efforts, but does not eliminate the disadvantages of FEA.…”

Section: Introductionmentioning

confidence: 99%

Practical Identifiability of the Manipulator Link Stiffness Parameters

Klimchik¹,

Caro²,

Pashkevich³

2013

Volume 2B: Advanced Manufacturing

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The paper addresses a problem of the manipulator stiffness modeling, which is extremely important for the precise manufacturing of contemporary aeronautic materials where the machining force causes significant compliance errors in the robot end-effector position. The main contributions are in the area of the elastostatic parameters identification. Particular attention is paid to the practical identifiability of the model parameters, which completely differs from the theoretical one that relies on the rank of the observation matrix only, without taking into account essential differences in the model parameter magnitudes and the measurement noise impact. This problem is relatively new in robotics and essentially differs from that arising in geometrical calibration. To solve the problem, several physical and statistical model reduction methods are proposed. They are based on the stiffness matrix sparseness taking into account the physical properties of the manipulator elements and also on the heuristic selection of the practically non-identifiable parameters that employs numerical analyses of the parameter estimates. The advantages of the developed approach are illustrated by an application example that deals with the stiffness modeling of an industrial robot used in aerospace industry.

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A systematic analytical method for PKM stiffness matrix calculation

Cited by 109 publications

References 8 publications

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

Indices for Stiffness and Singularity Evaluation for Designing 5R Parallel Manipulators

Multi-Parameter Based Calibration of Long-Link Flexible Manipulators

Practical Identifiability of the Manipulator Link Stiffness Parameters

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