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This chapter is devoted to the fundamentals of the Virtual Joint Modeling approach. It provides basic assumptions and definitions, gives transformation of the distributed robot model to the VJM model with the localized springs, and considers the particularities of its application for open-loop and closed-loop kinematic chains. Application of the VJM approach is illustrated by stiffness modelling of the Gougth platform.

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Virtual Joint Modeling: A Trade-Off Between the Complexity and Accuracy

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  • 发表日期：

    2025年

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  • Alexandr Klimchik,
  • Anatol Pashkevich,
  • Damien Chablat

摘要

This chapter is devoted to the fundamentals of the Virtual Joint Modeling approach. It provides basic assumptions and definitions, gives transformation of the distributed robot model to the VJM model with the localized springs, and considers the particularities of its application for open-loop and closed-loop kinematic chains. Application of the VJM approach is illustrated by stiffness modelling of the Gougth platform.