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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.15294 |
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| _version_ | 1866908665495158784 |
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| author | Klimchik, Alexandr Pashkevich, Anatol Chablat, Damien |
| author_facet | Klimchik, Alexandr Pashkevich, Anatol Chablat, Damien |
| contents | The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_15294 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures Klimchik, Alexandr Pashkevich, Anatol Chablat, Damien Robotics The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator. |
| title | MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.15294 |