Pashkevich et al., 2011 - Google Patents
Enhanced stiffness modeling of manipulators with passive jointsPashkevich et al., 2011
View PDF- Document ID
- 2286347445392076461
- Author
- Pashkevich A
- Klimchik A
- Chablat D
- Publication year
- Publication venue
- Mechanism and machine theory
External Links
Snippet
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the influence of external and internal loadings on the manipulator configuration and, consequently, on its Jacobians and …
- 210000001503 Joints 0 title abstract description 87
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06F—ELECTRICAL DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/50—Computer-aided design
- G06F17/5009—Computer-aided design using simulation
- G06F17/5018—Computer-aided design using simulation using finite difference methods or finite element methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40611—Camera to monitor endpoint, end effector position
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Pashkevich et al. | Enhanced stiffness modeling of manipulators with passive joints | |
Klimchik et al. | Stiffness modeling for perfect and non-perfect parallel manipulators under internal and external loadings | |
Pashkevich et al. | Stiffness analysis of overconstrained parallel manipulators | |
Klimchik et al. | Fundamentals of manipulator stiffness modeling using matrix structural analysis | |
Liang et al. | Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor | |
Rezaei et al. | An investigation on stiffness of a 3-PSP spatial parallel mechanism with flexible moving platform using invariant form | |
Klimchik et al. | CAD-based approach for identification of elasto-static parameters of robotic manipulators | |
Huang et al. | Generalized Jacobian analysis of lower mobility manipulators | |
Liu | Optimal kinematic design of a three translational DoFs parallel manipulator | |
Cammarata | Unified formulation for the stiffness analysis of spatial mechanisms | |
Legnani et al. | A new isotropic and decoupled 6-DoF parallel manipulator | |
Wang et al. | Stiffness analysis of a hexaglide parallel loading mechanism | |
Altuzarra et al. | Position analysis in planar parallel continuum mechanisms | |
Taghvaeipour et al. | On the elastostatic analysis of mechanical systems | |
Cao et al. | A method for stiffness analysis of overconstrained parallel robotic mechanisms with Scara motion | |
Chen et al. | Kinetostatics modeling and analysis of parallel continuum manipulators | |
Aginaga et al. | Improving static stiffness of the 6-RUS parallel manipulator using inverse singularities | |
Carbone et al. | A stiffness analysis for a hybrid parallel-serial manipulator | |
Bounab | Multi-objective optimal design based kineto-elastostatic performance for the delta parallel mechanism | |
Cao et al. | A method for stiffness modeling of 3R2T overconstrained parallel robotic mechanisms based on screw theory and strain energy | |
Nguyen et al. | Static and dynamic characterization of the 6-Dofs parallel robot 3CRS | |
Xu et al. | Tex3: An 2R1T parallel manipulator with minimum DOF of joints and fixed linear actuators | |
Zhang et al. | Design, analysis and fabrication of a novel three degrees of freedom parallel robotic manipulator with decoupled motions | |
Ecorchard et al. | Elasto-geometrical modeling and calibration of redundantly actuated PKMs | |
Zeng et al. | Tri-pyramid Robot: stiffness modeling of a 3-DOF translational parallel manipulator |