Topic
Direct stiffness method
About: Direct stiffness method is a research topic. Over the lifetime, 2584 publications have been published within this topic receiving 53131 citations.
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10 Apr 2007
TL;DR: A symmetric stiffness matrix defined as the Hessian of the elastic potential energy of the system is used, as an alternative to the Cartesian stiffness matrix used in this field, to describe the stiffness characteristic of over-constrained parallel manipulators.
Abstract: This paper deals with a class of over-constrained parallel manipulators that can be obtained from architecturally singular parallel mechanisms with legs of type US (U and S stand for universal and spherical joints respectively) by the addition of legs of type UPS (P stands for actuated prismatic pair). These manipulators can be internally preloaded in order to tune the system stiffness, to diminish system backlash and to control the state of tension of their structural elements. The paper, in particular, addresses the static and stiffness analyses of this class of manipulators. A symmetric stiffness matrix defined as the Hessian of the elastic potential energy of the system is used, as an alternative to the Cartesian stiffness matrix used in this field, to describe the stiffness characteristic of these manipulators. An over-constrained 2-dof parallel spherical wrist is analyzed as a case study.
30 citations
TL;DR: In this article, the dynamic stiffness matrix of a moving Bernoulli-Euler beam is developed and used to investigate its free flexural vibration characteristics, which is then used to obtain the general expressions for both responses and loads.
30 citations
TL;DR: In this paper, the stiffness matrix and the equivalent load vector of a 3D-curved beam element with a variable cross-section under generalized loads were derived by using the linear ordinary differential system equation governing its structural behaviour.
30 citations
TL;DR: In this article, the authors introduced new performance indices for robotic manipulators in order to evaluate the robot stiffness at the design embodiment stage, based on the calculation of the Cartesian stiffness matrix of a manipulator based on a matrix structural analysis methodology.
30 citations
TL;DR: In this article, the stiffness method is used for the solution of the purely in-plane free vibration problem of symmetric cross-ply laminated beams, and the rotary inertia, axial and transverse shear deformation effects are considered in the mathematical model by the first-order shear deformability theory.
30 citations