Static stiffness modelling of EAST articulated maintenance arm using matrix structural analysis method

Shi, Shanshuang; Wu, Huapeng; Song, Yuntao; Handroos, Heikki; Li, Ming; Cheng, Yong; Mao, Bingyan

doi:10.1016/j.fusengdes.2017.05.068

Cited by 13 publications

(3 citation statements)

References 4 publications

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“…Deblaise et al [35] obtained a Delta-type parallel mechanism's stiffness model. This method is also adopted in recent studies presented in [14,[36][37][38] , which indicates that this method is still extensively implemented in stiffness modeling of mechanisms.…”

Section: Matrix Structural Methodsmentioning

confidence: 99%

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

Görgülü

Carbone

Dede

2020

Mechanism and Machine Theory

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Section: Matrix Structural Methodsmentioning

confidence: 99%

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

Görgülü

Carbone

Dede

2020

Mechanism and Machine Theory

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“…There are also several works the deal with the MSA application to the stiffness analysis of particular parallel and serial manipulators. In [34] the MSA method was applied to EAST articulated maintenance arm with 11 degrees of freedoms (EAMA robot), which is used for remote inspection of inner components inside the vacuum vessel. In [35] the MSA technique was employed to obtain a dynamic model of the industrial machining robot ABB IRB 6660 in order to predict vibration instability in machining (chatter).…”

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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“…Among recent contributions devoted to the MSA, it is worth mentioning the work of Cammarata [9], who merged together flexibilities of the link and adjacent joints but did not avoid manual work of lines/columns merging in the global stiffness matrix. There are also several works that deal with the MSA application to particular parallel and serial manipulators [10,11].…”

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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Static stiffness modelling of EAST articulated maintenance arm using matrix structural analysis method

Cited by 13 publications

References 4 publications

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

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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