Enhanced tiffness modeling of serial manipulators with passive joints

Book Description

In modern robot-based manufacturing, the stiffness analysis becomes a critical issue. It is motivated by current trends in manipulator design that are targeted at achieving high dynamic performances with relatively small link masses and low energy consumption in actuators. These demand a revision of the existing stiffness modeling techniques that must take into account the external loading imposed by a manufacturing process. Accordingly, this chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems. In contrast to previous works, the stiffness is evaluated for the loaded working