Stiffness matrix of manipulators with passive joints: computational aspects
This work addresses stiffness modeling for robotic manipulators, which is incremental as it builds on existing methods for specific mechanical systems.
The paper tackled the problem of computing stiffness matrices for manipulators with passive joints, compliant actuators, and flexible links by proposing explicit analytical expressions and an efficient recursive procedure, which were applied to stiffness modeling of two Stewart-Gough platforms.
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 the 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.