Stiffness analysis of overconstrained parallel manipulators
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TLDR
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.About:
This article is published in Mechanism and Machine Theory.The article was published on 2009-05-01 and is currently open access. It has received 271 citations till now. The article focuses on the topics: Overconstrained mechanism & Direct stiffness method.read more
Citations
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Joint stiffness identification of six-revolute industrial serial robots
TL;DR: In this paper, a robust and fast procedure that can be used to identify the joint stiffness values of any six-revolute serial robot is introduced, where the links of the robot are assumed to be much stiffer than its actuated joints.
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Enhanced stiffness modeling of manipulators with passive joints
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.
Journal ArticleDOI
Identification of the manipulator stiffness model parameters in industrial environment
Alexandr Klimchik,Alexandr Klimchik,Benoit Furet,Benoit Furet,Stéphane Caro,Anatol Pashkevich,Anatol Pashkevich +6 more
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.
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Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings
Journal ArticleDOI
Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects
Abstract: Stiffness analysis and experimentof a novel 5-DoF parallel kinematic machine considering gravitational effects
References
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Book
Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
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Parallel Robots
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Book
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.