MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures

TL;DR

This paper introduces a systematic matrix-based approach for stiffness modeling of complex, hybrid robotic manipulators, accommodating various structural features and external loadings, and producing semi-analytical Cartesian stiffness matrices.

Contribution

It presents a novel, flexible method for stiffness modeling that handles mixed architectures with closed-loops, flexible links, and elastic joints, simplifying the aggregation process.

Findings

Effective stiffness analysis of NaVaRo manipulator demonstrated.

Method accommodates complex hybrid structures with external loadings.

Produces semi-analytical Cartesian stiffness matrices.

Abstract

The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator.