Stiffness Analysis of Parallel Manipulator Using Matrix Structural Analysis

This paper describes a stiffness analysis of a 6-RSS parallel architecture by using matrix structural analysis. The stiffness analysis is based on standard concepts of static elastic deformations. The formulation has been implemented in order to obtain the stiffness matrix that can be numerically computed by defining a suitable model of the manipulator, which takes into account the stiffness properties of each element such as links, actuators and joints. In order to simplify the model, joints and actuators stiffness have been neglected. The obtained stiffness matrix was used to map the end-effector compliant displacements when external forces and torques are applied on it.

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