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Advancement of MSA-Technique for Stiffness Modeling of Serial and Parallel Robotic Manipulators

Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)

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.

Keywords

Stiffness modeling Matrix structural analysis Serial robots Parallel robots 

Notes

Acknowledgments

The work presented in this paper was supported by the grant of Russian Science Foundation № 17-19-01740.

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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  1. 1.Innopolis UniversityInnopolisRussia
  2. 2.Centre National de la Recherche Scientifique (CNRS)NantesFrance
  3. 3.Le Laboratoire des Sciences du Numérique de Nantes (LS2N)NantesFrance
  4. 4.IMT AtlantiqueNantesFrance

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