Enhanced stiffness modeling of manipulators with passive joints

Mechanism and Machine Theory

Volumn 46, Issue 5, 2011, Pages 662-679

  Pashkevich, Anatol ^a,b   Klimchik, Alexandr ^a,b   Chablat, Damien ^b  

^a ECOLE DES MINES DE NANTES   (France)

^b INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Equilibrium configuration; External and internal loading; Parallel mechanisms; Stability; Stiffness

Indexed keywords

CARTESIAN STIFFNESS; ELASTIC INSTABILITIES; EQUILIBRIUM CONFIGURATION; EXTERNAL AND INTERNAL LOADING; INTERNAL LOADING; JACOBIANS; KINEMATIC CHAIN; MANIPULATOR STRUCTURES; NON-LINEAR STIFFNESS; NONLINEAR BEHAVIOR; NUMERICAL TECHNIQUES; PARALLEL MANIPULATORS; PARALLEL MECHANISMS; PASSIVE JOINTS; PSEUDO-RIGID BODY; SIMULATION EXAMPLE; STIFFNESS ANALYSIS; STIFFNESS MODELING; SUDDEN CHANGE; VIRTUAL SPRING;

KINEMATICS; LOADING; MANIPULATORS; MECHANISMS; STIFFNESS;

STABILITY CRITERIA;

EID: 79951944212     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2010.12.008     Document Type: Article

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