Enhanced stiffness modeling of manipulators with passive joints

A. Pashkevich, A. Klimchik, D. Chablat

Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France
Institut de Recherches en Communications et en Cybernetique de Nantes, 1 rue de la Noe, 44321 Nantes, France

(Accepted to "Mechanism and Machine Theory 46 (2011) 662–679")

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D: Animated illustrations of buckling phenomena in manipulators

D.1 Serial kinematic chain

Buckling in S-configuration with 1D-springs

Nonlinearity in Π-configuration with 1D-springs

Buckling in Z-configuration with 1D-springs

Buckling in manipulator with 3D-springs

D.2 Orthoglide manipulators

Buckling for near-flat configuration

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