Klimchik A. Stiffness Modeling of Parallel Robots 2025

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Klimchik A. Stiffness Modeling of Parallel Robots 2025

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Textbook in PDF format The book focuses on the stiffness modeling of serial and parallel manipulators It presents fundamentals and enhancements for Virtual Joint Modelling (VJM), Matrix Structural Analysis (MSA) and Finite Element Analysis (FEA). The described techniques consider complex kinematics with numerous passive joints, different types of loadings, including essential loadings leading to critical changes in the manipulator configurations, linear and non-linear stiffness analysis, conventional and non-linear compliance error compensation and stiffness parameters estimation from virtual experiments. To increase the model accuracy of the VJM and MSA techniques a dedicated FEA-based stiffness model parameters identification technique is introduced in the book. It is based on the virtual experiments in the CAD/CAE environment and allows the VJM and MSA to achieve accuracy comparable with FEA, but it essentially reduces the computational effort, eliminating repetitive re-meshing through the workspace. All considered stiffness modelling techniques, kinematic particularities and loading conditions are illustrated with practical examples and related analysis. Preface. Introduction to Stiffness Modelling of Robotic Manipulators. State of the Art of Manipulator Stiffness Modelling. Finite Element Analysis in Manipulator Stiffness Modelling. Matrix Structural Analysis and Its Application in Robotics. Virtual Joint Modeling: A Trade-Off Between the Complexity and Accuracy. Non-linear Stiffness Models for Robotic Manipulators Under the Loading. Evaluation of Manipulator Stiffness Model Parameters. Stiffness Modelling of Typical Manipulator Linkages and Their Assemblies