Cartesian stiffness matrix of manipulators with passive joints: analytical approach

被引：0
|
作者：
Pashkevich, A. [1 ]
Klimchik, A. [1 ]
Caro, S. [2 ]
Chablat, D. [2 ]
机构：
[1] Ecole Mines Nantes, 4 Rue Alfred Kastler, F-44307 Nantes, France
[2] IRCCyN, CNRS, UMR 6597, F-44321 Nantes, France
来源：
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年
关键词：
stiffness modeling; parallel manipulators; passive joints; kinetostatic singularities; recursive computations; PARALLEL; MACHINE;
D O I：
10.1109/IROS.2011.6094419
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the desired matrix either in analytical or numerical form. Advantages of the developed technique and its ability to produce both singular and non-singular stiffness matrices are illustrated by application examples that deal with stiffness modeling of two Stewart-Gough platforms.
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页码：4034 / 4041
页数：8
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