Stiffness Modeling of Compliant Serial Manipulators based on Tensegrity Mechanism under External Loading

Wanda Zhao, Anatol Pashkevich, Anatol Pashkevich, Damien Chablat, Damien Chablat

2021

Abstract

The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior under external loading. The manipulator under study is a serial mechanical structure composed of dual-triangle segments. The main attention is paid to the possible equilibriums and the manipulator stiffness behavior under the loading for the initial non-straight configuration. It was demonstrated that there is a quasi-buckling phenomenon for this manipulator while the external loading increasing. In the neighborhood of these configurations, the manipulator behavior was analyzed using the enhanced Virtual Joint Method (VJM). Relevant simulation study confirmed the obtained theoretical results.

Paper Citation

in Harvard Style

Zhao W., Pashkevich A. and Chablat D. (2021). Stiffness Modeling of Compliant Serial Manipulators based on Tensegrity Mechanism under External Loading. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 254-262. DOI: 10.5220/0010506102540262

in Bibtex Style

@conference{icinco21,
author={Wanda Zhao and Anatol Pashkevich and Damien Chablat},
title={Stiffness Modeling of Compliant Serial Manipulators based on Tensegrity Mechanism under External Loading},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={254-262},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010506102540262},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Stiffness Modeling of Compliant Serial Manipulators based on Tensegrity Mechanism under External Loading
SN - 978-989-758-522-7
AU - Zhao W.
AU - Pashkevich A.
AU - Chablat D.
PY - 2021
SP - 254
EP - 262
DO - 10.5220/0010506102540262