Stiffness Modeling of Compliant Serial Manipulators Based on Tensegrity Mechanism under External Loading - Ecole Centrale de Nantes Accéder directement au contenu
Communication Dans Un Congrès Année : 2021

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

Résumé

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.
Fichier principal
Vignette du fichier
ICINCO2021_v6.pdf (1.31 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03311957 , version 1 (02-08-2021)

Identifiants

Citer

Wanda Zhao, Anatol Pashkevich, Damien Chablat. Stiffness Modeling of Compliant Serial Manipulators Based on Tensegrity Mechanism under External Loading. 18th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2021, Paris, France. ⟨10.5220/0010506102540262⟩. ⟨hal-03311957⟩
54 Consultations
38 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More