Abstract
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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Klimchik, A., et al.: Efficiency evaluation of robots in machining applications using industrial performance measure. Rob. Comput.-Integr. Manuf. 48, 12–29 (2017)
Pashkevich, A., Klimchik, A., Chablat, D.: Enhanced stiffness modeling of manipulators with passive joints. Mech. Mach. Theory 46(5), 662–679 (2011)
Yan, S.J., Ong, S.K., Nee, A.Y.C.: Stiffness analysis of parallelogram-type parallel manipulators using a strain energy method. Rob. Comput.-Integr. Manuf. 37, 13–22 (2016)
Gonçalves, R.S., et al.: A comparison of stiffness analysis methods for robotic systems. Int. J. Mech. Control 17(2), 35–58 (2016)
Klimchik, A., Chablat, D., Pashkevich, A.: Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings. Mech. Mach. Theory 79, 1–28 (2014)
Liu, H., et al.: Stiffness Modeling of Parallel Mechanisms at Limb and Joint/Link Levels. IEEE Trans. Rob. 33(3), 734–741 (2017)
Yeo, S.H., Yang, G., Lim, W.B.: Design and analysis of cable-driven manipulators with variable stiffness. Mech. Mach. Theory 69, 230–244 (2013)
Klimchik, A., Pashkevich, A.: Serial vs. quasi-serial manipulators: comparison analysis of elasto-static behaviors. Mech. Mach. Theory 107, 46–70 (2017)
Cammarata, A.: Unified formulation for the stiffness analysis of spatial mechanisms. Mech. Mach. Theory 105, 272–284 (2016)
Shi, S., et al., Static stiffness modelling of EAST articulated maintenance arm using matrix structural analysis method. Fusion Engineering and Design (2017)
Azulay, H., et al.: Comparative analysis of a new 3 × PPRS parallel kinematic mechanism. Rob. Comput.-Integr. Manuf. 30(4), 369–378 (2014)
Deblaise, D., Hernot, X., Maurine, P.: A systematic analytical method for PKM stiffness matrix calculation. In: IEEE International Conference on Robotics and Automation (ICRA 2006). IEEE (2006)
Klimchik, A., Pashkevich, A., Chablat, D.: CAD-based approach for identification of elasto-static parameters of robotic manipulators. Finite Elem. Anal. Des. 75, 19–30 (2013)
Acknowledgments
The work presented in this paper was supported by the grant of Russian Science Foundation № 17-19-01740.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Klimchik, A., Chablat, D., Pashkevich, A. (2019). Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_45
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_45
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)