Static stability of manipulator configuration: Influence of the external loading

Abstract : The paper deals with the manipulator static stability analysis under the influence of the external loading. It proposes a new technique that allows evaluating both static stability of the end-effector location and static stability of the kinematic chain configuration. This approach extends the classical notion of the manipulator static stability that is completely defined by the properties of the Cartesian stiffness matrix. The advantages of the new approach are illustrated by examples that deal with parallel manipulators and their serial chains. The analysis showed that the manipulator workspace may include elastostatic singularities where the chain configurations become unstable under the influence of external loading. (C) 2014 Elsevier Masson SAS. All rights reserved.
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European Journal of Mechanics - A/Solids, Elsevier, 2015, 51, pp.193-203. 〈10.1016/j.euromechsol.2014.12.010〉
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https://hal-mines-nantes.archives-ouvertes.fr/hal-01201685
Contributeur : Nathalie Fontaine <>
Soumis le : jeudi 17 septembre 2015 - 17:17:35
Dernière modification le : mardi 16 janvier 2018 - 14:39:14

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Alexandr Klimchik, Damien Chablat, Anatol Pashkevich. Static stability of manipulator configuration: Influence of the external loading. European Journal of Mechanics - A/Solids, Elsevier, 2015, 51, pp.193-203. 〈10.1016/j.euromechsol.2014.12.010〉. 〈hal-01201685〉

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