2014
DOI: 10.1016/j.mechmachtheory.2014.04.002
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Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings

Abstract: International audienceThe paper presents an advanced stiffness modeling technique for perfect and non-perfect parallel manipulators under internal and external loadings. Particular attention is paid to the manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones and do not allow to assemble manipulator without internal stresses that considerably affect the stiffness properties and also change the end-effector location. In contrast to other works, several typ… Show more

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Cited by 120 publications
(83 citation statements)
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References 53 publications
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“…A stiffness model of a robotic manipulator (both serial and quasi-serial) describes the manipulator behavior under loading [16], [17]. In addition to the conventional robot parameters (i.e., geometric ones), it includes a number of elastic parameters which describe flexibility of the manipulator links and joints.…”
Section: Figure 1 Architecture Of Typical Industrial Robotsmentioning
confidence: 99%
“…A stiffness model of a robotic manipulator (both serial and quasi-serial) describes the manipulator behavior under loading [16], [17]. In addition to the conventional robot parameters (i.e., geometric ones), it includes a number of elastic parameters which describe flexibility of the manipulator links and joints.…”
Section: Figure 1 Architecture Of Typical Industrial Robotsmentioning
confidence: 99%
“…This example deals with two manipulators (serial and quasi-serial ones) with the same basic geometric parameters l 2 = 1 m, l 3 = 0.8 m and similar joint compliances k = 10 − 6 rad ̸N m. These values are typical for industrial robots that are used in machining (Dumas et al, 2012). To compare stiffness behavior, let us compute the compliance errors caused by an external force 1.0 kN applied to the end-effector (details of related technique are presented in (Klimchik et al 2014)). Relevant results have been obtained for two different external loadings and are presented in Fig.…”
Section: Motivation Examplementioning
confidence: 99%
“…The stiffness model of a robotic manipulator describes manipulator behavior under loading (Klimchik et al 2014;Pashkevich et al 2011;Yan et al 2016). In addition to the conventional robot parameters (geometric ones), it includes a number of elastic parameters describing flexibility of manipulator links and joints.…”
Section: Introductionmentioning
confidence: 99%
“…It is worth pointing out that the stiffness or compliance modeling is a research hotspot and an essential foundation for the stiffness or compliance analysis, design and estimation in the preliminary and final design stages of 5-DoF PKMs. Literature reviews [23][24][25][26][27][28][29][30][31][32][33][34][35][36][37][38] show that there are three main methods for the formulation of stiffness or compliance model: numerical approach based on finite element analysis (FEA) software, analytical approaches based on structural matrix, and semi-analytical approach based on virtual work principle.…”
Section: Introductionmentioning
confidence: 99%