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Stiffness Modeling of Robotic-Manipulators Under Auxiliary Loadings

[+] Author Affiliations
Alexandr Klimchik, Anatol Pashkevich

Ecole des Mines de Nantes, Nantes, FranceInstitut de Recherches en Communications et Cybernétique de Nantes, Nantes, France

Stéphane Caro, Damien Chablat

Institut de Recherches en Communications et Cybernétique de Nantes, Nantes, France

Paper No. DETC2012-70457, pp. 469-476; 8 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


The paper focuses on the extension of the virtual-joint-based stiffness modeling technique for the case of different types of loadings applied both to the robot end-effector and to manipulator intermediate points (auxiliary loading). It is assumed that the manipulator can be presented as a set of compliant links separated by passive or active joints. It proposes a computationally efficient procedure that is able to obtain a non-linear force-deflection relation taking into account the internal and external loadings. It also produces the Cartesian stiffness matrix. This allows to extend the classical stiffness mapping equation for the case of manipulators with auxiliary loading. The results are illustrated by numerical examples.

Copyright © 2012 by ASME



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