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Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments

Abstract : The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle segments. The main attention is paid to the initial straight configuration which may suddenly change its shape under the loading. It was discovered that under the external loading such manipulator may have six equilibrium configurations but only two of them are stable. In the neighborhood of these configurations, the manipulator behavior was analyzed using the Virtual Joint Method (VJM). This approach allowed us to propose an analytical technique for computing a critical force causing the buckling and evaluate the manipulator shape under the loading. A relevant simulation study confirmed the validity of the developed technique and its advantages in non-linear stiffness analysis.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-03311948
Contributor : Damien Chablat <>
Submitted on : Monday, August 2, 2021 - 10:23:21 AM
Last modification on : Tuesday, September 21, 2021 - 4:06:16 PM

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  • HAL Id : hal-03311948, version 1
  • ARXIV : 2108.00753

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Wanda Zhao, Anatol Pashkevich, Damien Chablat. Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments. IEEE 2021 International Conference on Automation Science and Engineering, Aug 2021, Lyon, France. ⟨hal-03311948⟩

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