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
(Submmited to "IEEE Transactions on Robotics", 2011)
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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 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.
Stiffness modeling, parallel manipulators, passive joints, kinetostatic singularities, recursive computations.
The work presented in this paper was partially funded by the Region “Pays de la Loire”, France (project RoboComposite) and by the ANR, France (project COROUSSO).