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This Chapter describes the particularities of stiffness modelling of typical linkages used in serial and parallel manipulators. It covers the following mechanical structures: trivial fully-actuated serial chains, under-constrained serial chains with passive joints, conventional serial chains and quasi-serial chains with internal closed-loops. Special attention is paid to the stiffness modelling of these linkages under the influence of internal and external loadings.

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Stiffness Modelling of Typical Manipulator Linkages and Their Assemblies

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  • 发表日期：

    2025年

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  • Alexandr Klimchik,
  • Anatol Pashkevich,
  • Damien Chablat

摘要

This Chapter describes the particularities of stiffness modelling of typical linkages used in serial and parallel manipulators. It covers the following mechanical structures: trivial fully-actuated serial chains, under-constrained serial chains with passive joints, conventional serial chains and quasi-serial chains with internal closed-loops. Special attention is paid to the stiffness modelling of these linkages under the influence of internal and external loadings.