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This chapter proposes an analytical and numerical CAD-based identification procedure that allows us to obtain the stiffness matrix for the manipulator links with simple and complex shapes. The obtained results (stiffness matrices) can be used both in VJM and MSA modelling approaches using derived relations between the model parameters. The validity and advantages of the described identification procedure are confirmed by an illustrative example that deals with stiffness matrix identification for the links of the Orthoglide parallel manipulator.

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Evaluation of Manipulator Stiffness Model Parameters

  • 章节

  • 发表日期：

    2025年

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  • Alexandr Klimchik,
  • Anatol Pashkevich,
  • Damien Chablat

摘要

This chapter proposes an analytical and numerical CAD-based identification procedure that allows us to obtain the stiffness matrix for the manipulator links with simple and complex shapes. The obtained results (stiffness matrices) can be used both in VJM and MSA modelling approaches using derived relations between the model parameters. The validity and advantages of the described identification procedure are confirmed by an illustrative example that deals with stiffness matrix identification for the links of the Orthoglide parallel manipulator.