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ЖУРНАЛЫ // Russian Journal of Nonlinear Dynamics // Архив

Rus. J. Nonlin. Dyn., 2022, том 18, номер 5, страницы 771–785 (Mi nd823)

Эта публикация цитируется в 2 статьях

Nonlinear engineering and robotics

Stiffness Modeling of a Double Pantograph Transmission System: Comparison of VJM and MSA Approaches

W. K. Shakera, A. Klimchikb

a Robotics and Computer Vision program, Innopolis University, ul. Universitetskaya 1, Innopolis, Republic of Tatarstan, 420500 Russia
b School of Computer Science, University of Lincoln, Brayford Way, Brayford Pool, Lincoln LN6 7TS, United Kingdom

Аннотация: This paper deals with the stiffness modeling of the double pantograph transmission system. The main focus is on the comparison analysis of different stiffness modeling approaches: vir- tual joint modeling (VJM) and matrix structural analysis (MSA). The aim of this work is to investigate the limitations of the considered approaches. To address this issue, corresponding MSA-based and VJM-based stiffness models were derived. To evaluate the deflections of the end effector, the external loads were applied in different directions at multiple points in the robot workspace. The computational cost and the difference in end-effector deflections were studied and compared. MSA was found to be 2 times faster than VJM for this structure. The re- sults obtained showed that the MSA approach is more appropriate for the double pantograph mechanism.

Ключевые слова: stiffness modeling, parallel robot, double pantograph, virtual joint modeling, matrix structural analysis.

MSC: 70C20

Поступила в редакцию: 08.09.2022
Принята в печать: 18.11.2022

Язык публикации: английский

DOI: 10.20537/nd221208



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