Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Extended Procedure for Stiffness Modeling Based on the Matrix Structure Analysis

Authors : T. Detert, B. Corves

Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

For handling tasks requiring high accuracy and high dynamics, good stiffness properties of the manipulator are crucial and need to be taken into account in the design phase. Known methods to calculate the stiffness properties of a mechanical structure are the Finite Element Analysis, the Virtual Joint Method and the Matrix Structure Analysis. These methods trade off the complexity and computational costs against the accuracy of the results. This paper presents an extended procedure to model and analyze the stiffness properties of mechanical structures based on the Matrix Structure Analysis. The stiffness matrix of the structure is assembled automatically, following the described algorithm. The deformation of the structure under external load can then be calculated directly. In this procedure, complex links and joints with force dependent (non-linear) stiffness properties can be taken into account. This extended procedure is validated by measurements on a robotic arm.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Mobile Robot Used to Collect Data from a Difficult Access Area
next chapter Translational Parallel Manipulator with Pa2 Kinematic Joints
Literature
1.
Riedel, M.: Flexible Bauteilhandhabung auf Basis einer rekonfigurierbaren parallelkinematischen Strutur, Dissertation (2014). ISBN 978-3-8440-2534-7
2.
Briot, S., Pashkevich, A., Chablat, D.: Reduced elastodynamic modelling of parallel robots for the computation of their natural frequencies. In: 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19–25 June 2011
3.
Ahmad, A., Anderson, K., Sellgren, U.: An approach to stiffness analysis methodology for haptic devices. In: ICUMT Ultra Modern Telecommunications and Control Systems and Workshops (2011)
4.
Cammarata, A.: On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines, in Serial and Parallel Robot Manipulators—Kinematics, Dynamics, Control and Optimization. In: Kucuk, S. (ed.), pp. 85–109. InTech (2012)
5.
Kucuk, S. (ed.): Serial and Parallel Robot Manipulators—Kinematics, Dynamics, Control and Optimization. InTech (2012)
6.
Taghvaeipour, A., Angeles, J., Lessard, L.: On the elastostatic analysis of mechanical systems. Mech. Mach. Theory 58, 202–216 (2012)CrossRef
7.
Salisbury, J.: Active stiffness control of a manipulator in cartesian coordinates. In: 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, pp. 95–100 (1980)
8.
Gosselin, C.: Stiffness mapping for parallel manipulators. IEEE Trans. Robot. Autom. 6(3), 377–382 (1990)CrossRef
9.
El-Khasawneh, B.S., Ferreira, P.M.: Computation of stiffness and stiffness bounds for parallel link manipulators. Int. J. Mach. Tools Manufact. 39(2), 321–342 (1999)CrossRef
10.
Pashkevich, A., Chablat, D., Wenger, P.: Stiffness analysis of multi-chain parallel robotic systems. In: 9th IFAC Workshop on Intelligent Manufacturing Systems, France, pp. 127–132 (2008)
11.
12.
Gosselin, C., Li, S.: Stiffness analysis of 3-RRR planar parallel mechanisms based on CCT. In 12th IFToMM World Congress, Besancon (France), June 18–21 2007
13.
Goncalves, R.S., Carvalho, J.C.M.: Stiffness analysis of parallel manipulator using matrix structural analysis. In: The Second European Conference on Mechanism Science, Proceedings of Eucomes 08, Great Britain. Springer (2009)
14.
Deblaise, D., Hernot, X., Maurine, P.: A systematic analytical method for PKM stiffness matrix calculation. In: 2006 IEEE International Conference on Robotics and Automation, pp. 4213–4219 (2006)
15.
Taghvaeipour, A., Angeles, J., Lessard, L.: Online computation of the stiffness matrix in robotic structures using finite element analysis. Master Thesis (2010)
16.
Nagai, K., Liu, Z.: A systematic approach to stiffness analysis of parallel mechanisms. IEEE J. Robot. Autom. 1543–1548 (2008)
17.
Pashkevich, A., Chablat, D., Wenger, P.: Stiffness analysis of overconstrained parallel manipulators. Mech. Mach. Theory 44(5), 966–982 (2009)CrossRefMATH
18.
19.
Dieker, S.: Elementare Festigkeitslehre im Leichtbau. Donat, Bremen (2005). ISBN 978-3924444587
20.
Hernot, X., Sartor, M., Guillot, J.: Calculation of the stiffness matrix of angular contact ball bearings by using the analytical approach. J. Mech. Des. 122(1), 83 (2000). doi:10.​1115/​1.​533548
21.
Noel, D., Ritou, M., Furet, B., Le Loch, S.: Complete analytical expression of the stiffness matrix of angular contact ball bearings. J. Tribol. 135(4), 041101 (2013). doi:10.​1115/​1.​4024109
22.
Daidi, A., Chaib, Z., Ghosn, A.: 3D Simplified finite elements analysis of load and contact angle in a slewing ball bearing. In: J. Mech. Des. 130(8), 082601 (2013). doi:10.​1115/​1.​2918915
23.
24.
Cammarata, A.: On the stiffness analysis and elastodynamics of parallel kinematic machines. In: Kucuk, S. (ed.) Serial and Parallel Robot Manipulators—Kinematics, Dynamics, Control and Optimization. InTech (2012). ISBN 978-953-51-0437-7
25.
Deblaise, D., Hernot, X., Maurine, P.: A systematic analytical method for PKM stiffness matrix calculation. In: ICRA IEEE International Conference on Robotics and Automation, Orlando, FL, USA, pp. 4213–4219 (2006)
Metadata
Title
Extended Procedure for Stiffness Modeling Based on the Matrix Structure Analysis
Authors
T. Detert
B. Corves
Copyright Year
2017
Book
New Advances in Mechanisms, Mechanical Transmissions and Robotics

Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-45450-4_30

Premium Partners

    Image Credits