提出一种新型刚度建模方法，可处理复杂混合结构机械臂的刚度分析。
MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures
- 基于矩阵结构分析，将刚度模型拆解为弹性方程与连接约束
- 无需传统矩阵合并，直接整合刚度方程，提升计算效率
- 适用于含闭链、柔性杆、弹性关节等复杂结构，适合工程设计参考
本文提出一种基于矩阵结构分析的系统性方法，用于建模具有复杂和混合结构的机械臂刚度。该方法适用于包含闭链、柔性构件、刚性连接、被动及弹性关节，并承受外部载荷和预紧力的混合架构。所提方法以半解析方式生成笛卡尔空间刚度矩阵，将机械臂刚度模型表述为描述构件弹性的常规方程组，辅以描述构件间连接关系的约束方程。该方法避免了传统扩展刚度矩阵中的行列合并步骤，实现用户友好的刚度模型方程直接聚合。通过NaVaRo机械臂的刚度分析验证了该方法的优势。
原文摘要 · Abstract (English)
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator.
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