Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators

Alexandr Klimchik (1) , Damien Chablat (2, 3) , Anatol Pashkevich (3, 4, 2)

1 Innopolis University
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 LS2N - équipe ReV - Robotique Et Vivant
4 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique

The paper presents advancement of the matrix structural analysis technique (MSA) for stiffness modeling of robotic manipulators. In contrast to the classical MSA, it can be applied to both parallel and serial manipulators composed of flexible and rigid links connected by rigid, passive or elastic joints with multiple external loadings. The manipulator stiffness model is presented as a set of basic equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. These equations are aggregated straightforwardly in a common linear system without traditional merging of the matrix rows and columns, which allows avoiding conventional manual transformations at the expense of numerical inversion of the sparse matrix of higher dimension.

Mots clés: matrix structural analysis; Stiffness modeling; parallel robots; serial robots

Domaines: Robotique [cs.RO]

Alexandr Klimchik, Damien Chablat, Anatol Pashkevich. Advancement of MSA-technique for stiffness modeling of serial and parallel robotic manipulators. ROMANSY 22–Robot Design, Dynamics and Control, Springer, Cham, pp.355-362, 2018, ⟨10.1007/978-3-319-78963-7_45⟩. ⟨hal-01800044⟩