Author
X. Hernot
Bio: X. Hernot is an academic researcher from Intelligence and National Security Alliance. The author has contributed to research in topics: Stiffness matrix & Stiffness. The author has an hindex of 1, co-authored 1 publications receiving 146 citations.
Topics: Stiffness matrix, Stiffness, Direct stiffness method
Papers
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15 May 2006TL;DR: The proposed analytical method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications.
Abstract: The purpose of this work is to propose a new approach for the calculation of PKM stiffness matrix by using an analytical method based on matrix structural analysis. This method has as the main advantage to be systematic and it also can be applied to hyper-static PKM stiffness analysis. The implementation of the proposed method is fast and convenient and it can easily be involved during PKM design optimization. Moreover, as the stiffness matrix is obtained in a close form, it can be implemented directly on the robot controller. In other words, the proposed method could be used to reduce the gap existing between actual PKM and those that have to meet the high accuracy specifications required for machining applications. At first this paper presents the proposed analytical method that is applied to calculate the stiffness matrix of a delta parallel structure. Then the experimental results that have been done to evaluate and validate its efficiency are presented
156 citations
Cited by
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TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
271 citations
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TL;DR: In this paper, a non-linear stiffness model for serial and parallel manipulators with passive joints is presented, where the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints.
221 citations
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TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
123 citations
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111 citations
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Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
108 citations