Abstract
The paper deals with enhanced stiffness analysis of the NaVaRo robot, a three-degree-of-freedom planar parallel manipulator with variable actuation schemes that are switched from one to another in order to avoid kinematic singularities. The main scientific contribution is in the area of extension of classical MSA technique for the case of complex open-loop and closed-loop manipulators. The proposed approach produces the Cartesian stiffness matrices and 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. The main advantage is computational simplicity that straightforwardly aggregates the stiffness model equations avoiding traditional column/row merging procedures of the conventional MSA. The efficiency of this approach is illustrated by comparison analysis of NaVaRo manipulator for different actuation modes.
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