Stiffness matrix of manipulators with passive joints: computational aspects

TL;DR

This paper introduces a new method for computing the stiffness matrix of manipulators with passive joints, combining analytical expressions and recursive procedures for improved accuracy and efficiency.

Contribution

It presents a novel approach that enables explicit analytical and recursive numerical computation of stiffness matrices for complex manipulators with passive joints.

Findings

The method can produce both singular and non-singular stiffness matrices.

Application examples demonstrate the technique's effectiveness in modeling Stewart-Gough platforms.

The approach improves computational efficiency and accuracy in stiffness analysis.

Abstract

The paper focuses on stiffness matrix computation for manipulators with passive joints, compliant actuators and flexible links. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in the 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.