Enhanced stiffness modeling of manipulators with passive joints

Park, 2008, Safe link mechanism based on nonlinear stiffness for collision safety, Mechanism and Machine Theory, 43, 1332, 10.1016/j.mechmachtheory.2007.10.004

Angeles, 2008, Performance evaluation and design criteria, 229

De Luca, 2008, Robots with flexible elements, 287

1999

Meggiolaro, 2005, Geometric and elastic error calibration of a high accuracy patient positioning system, Mechanism and Machine Theory, 40, 415, 10.1016/j.mechmachtheory.2004.07.013

Filippini, 2008, Toward soft robots you can depend on, IEEE Robotics and Automation Magazine, 15, 31, 10.1109/MRA.2008.927696

Scarfogliero, 2009, The use of compliant joints and elastic energy storage in bio-inspired legged robots, Mechanism and Machine Theory, 44, 580, 10.1016/j.mechmachtheory.2008.08.010

Merlet, 2008, Analysis of wire elasticity for wire-driven parallel robots, 471

Kang, 2005, Analysis and design of parallel mechanisms with flexure joints, IEEE Transactions on Robotics, 21, 1179, 10.1109/TRO.2005.855989

Yong, 2009, Kinetostatic modeling of 3-RRR compliant micro-motion stages with flexure hinges, Mechanism and Machine Theory, 44, 1156, 10.1016/j.mechmachtheory.2008.09.005

Lobontiu, 2003, Analytical model of displacement amplification and stiffness optimization for a class of flexure-based compliant mechanisms, Computers and Structures, 81, 2797, 10.1016/j.compstruc.2003.07.003

Timoshenko, 1970

Hjelmstad, 1997

Duffy, 1996

Yi, 1992, Synthesis of actively adjustable springs by antagonistic redundant actuation, Journal of Dynamic Systems, Measurements and Control, 114, 454, 10.1115/1.2897368

Yi, 1993, Geometric analysis antagonistic stiffness redundantly actuated parallel mechanism, Journal of Robotic Systems, 10, 581, 10.1002/rob.4620100504

Griffis, 1993, Global stiffness modeling of a class of simple compliant couplings, Mechanism and Machine Theory, 28, 207, 10.1016/0094-114X(93)90088-D

Ciblak, 1994, Asymmetric Cartesian stiffness for the modeling of compliant robotic systems

Ciblak, 1998, Synthesis of stiffness by springs

Pigoski, 1998, Stiffness mappings employing different frames of reference, Mechanism and Machine Theory, 33, 825, 10.1016/S0094-114X(97)00083-9

Howard, 1998, On the 6×6 Cartesian stiffness matrix for three-dimensional motions, Mechanism and Machine Theory, 33, 389, 10.1016/S0094-114X(97)00040-2

Kövecses, 2007, The stiffness matrix in elastically articulated rigid-body systems, Multibody System Dynamics, 18, 169, 10.1007/s11044-007-9082-2

Ciblak, 1999, Synthesis of Cartesian stiffness for robotic applications, 3, 2147

Chen, 2000, Conservative congruence transformation for joint and Cartesian stiffness matrices of robotic hands and fingers, The International Journal of Robotics Research, 19, 835, 10.1177/02783640022067201

Huang, 2002, New conservative stiffness mapping for the Stewart–Gough platform, 823

Piras, 2005, Dynamic finite-element analysis of a planar high-speed, high-precision parallel manipulator with flexible links, Mechanism and Machine Theory, 40, 849, 10.1016/j.mechmachtheory.2004.12.007

Hu, 2007, Finite element analysis of a six-component force sensor for the trans-femoral prosthesis, 633

Nagai, 2007, A systematic approach to stiffness analysis of parallel mechanisms and its comparison with FEM, 1087

Corradini, 2004, Evaluation of a 4 degree of freedom parallel manipulator stiffness, 1857

Bouzgarrou, 2004, Rigidity analysis of T3R1 parallel robot with uncoupled kinematics

El-Khasawneh, 1999, Computation of stiffness and stiffness bounds for parallel link manipulators, International Journal of Machine Tools and Manufacture, 39, 321, 10.1016/S0890-6955(98)00039-X

Long, 2003, Optimal structural design of a planar parallel platform for machining, Applied Mathematical Modelling, 27, 581, 10.1016/S0307-904X(03)00070-2

Rizk, 2006, A comparative stiffness analysis of a reconfigurable parallel machine with three or four degrees of mobility, Journal of Machine Engineering, 6, 45

Deblaise, 2006, A systematic analytical method for PKM stiffness matrix calculation, 4213

Martin, 1966

Li, 2002, Stiffness analysis of a Stewart platform-based parallel kinematic machine, 4, 3672

Nagai, 2008, A systematic approach to stiffness analysis of parallel mechanisms, 1543

Carricato, 2002, Catastrophe analysis of a planar system with flexural pivots, Mechanism and Machine Theory, 37, 693, 10.1016/S0094-114X(02)00012-5

Hines, 1998, Catastrophe analysis of the planar two-spring mechanism, International Journal of Robotics Research, 17, 89, 10.1177/027836499801700108

Salisbury, 1980, Active stiffness control of a manipulator in Cartesian coordinates, 87

Gosselin, 1990, Stiffness mapping for parallel manipulators, IEEE Transactions on Robotics and Automation, 6, 377, 10.1109/70.56657

Gosselin, 2002, Stiffness analysis of parallel mechanisms using a lumped model, International Jornal of Robotics and Automation, 17, 17

Pashkevich, 2009, Nonlinear effect in stiffness modeling of robotic manipulators, 58, 168

Majou, 2007, Parametric stiffness analysis of the Orthoglide, Mechanism and Machine Theory, 42, 296, 10.1016/j.mechmachtheory.2006.03.018

Ceccarelli, 2002, A stiffness analysis for CaPaMan (Cassino Parallel Manipulator), Mechanism and Machine Theory, 37, 427, 10.1016/S0094-114X(02)00006-X

Company, 2002, Modelling and preliminary design issues of a 4-axis parallel machine for heavy parts handling, Journal of Multibody Dynamics, 216, 1

Arumugam, 2004, Stiffness analysis of a class of parallel mechanisms for micro-positioning applications, 2, 1826

Vertechy, 2007, Static and stiffness analyses of a class of over-constrained parallel manipulators with legs of type US and UPS, 561

Pashkevich, 2009, Stiffness analysis of overconstrained parallel manipulators, Mechanism and Machine Theory, 44, 966, 10.1016/j.mechmachtheory.2008.05.017

Pashkevich, 2009, Accuracy improvement for stiffness modeling of parallel manipulators

Pashkevich, 2008, Stiffness analysis of 3-d.o.f. overconstrained translational parallel manipulators, 1562

Chablat, 2003, Architecture optimization of a 3-DOF parallel mechanism for machining applications, the Orthoglide, IEEE Transactions On Robotics and Automation, 19, 403, 10.1109/TRA.2003.810242

Quennouelle, 2008, Stiffness matrix of compliant parallel mechanisms

Quennouelle, 2008, Instantaneous kinemato-static model of planar compliant parallel mechanisms

C. Quennouelle, Modelisation geometrico-statique des mecanismes paralleles compliants, Ph.D. thesis, Universite Laval, Quebec, QC, Canada, 2009.

Przemieniecki, 1968

Alici, 2005, Enhanced stiffness modeling, identification and characterization for robot manipulators, Proceedings of IEEE Transactions on Robotics, 21, 554, 10.1109/TRO.2004.842347

Chen, 2002, Geometrical approach to the conservative congruence transformation (CCT) for robotic stiffness control, 544

Li, 2002, Stiffness control and transformation for robotic systems with coordinate and non-coordinate bases, 550

Chakarov, 1999, Study of passive compliance of parallel manipulators, Mechanism and Machine Theory, 34, 373, 10.1016/S0094-114X(98)00039-1

Chakarov, 2004, Study of antagonistic stiffness of parallel manipulators with actuation redundancy, Mechanism and Machine Theory, 39, 583, 10.1016/j.mechmachtheory.2003.12.001

Wei, 2010, Design of planar parallel robots with preloaded flexures for guaranteed backlash prevention, Journal of Mechanisms and Robotics, 2, 10.1115/1.4000522

Zhang, 2004, Analysis of parallel kinematic machine with kinetostatic modeling method, Robotics and Computer-Integrated Manufacturing, 20, 151, 10.1016/j.rcim.2003.08.005

Xi, 2004, Global kinetostatic modelling of tripod-based parallel kinematic machine, Mechanism and Machine Theory, 39, 357, 10.1016/j.mechmachtheory.2003.09.007

Zhang, 2002, Kinetostatic modeling of parallel mechanisms with a passive constraining leg and revolute actuators, Mechanism and Machine Theory, 37, 599, 10.1016/S0094-114X(02)00011-3

Merlet, 2008, Parallel mechanisms and robots, 269

Pashkevich, 2009, Stiffness analysis of multichain parallel robotic systems with loading, Journal of Automation, Mobile Robotics & Intelligent Systems, 3, 75

Pashkevich, 2010, Stiffness analysis of parallel manipulators with preloaded passive joints, 465

Li, 2008, Stiffness analysis for a 3-PUU parallel kinematic machine, Mechanism and Machine Theory, 43, 186, 10.1016/j.mechmachtheory.2007.02.002

Clavel, 1988, DELTA, a fast robot with parallel geometry, 91

Merlet, 2006

Angeles, 2007

Strang, 1998

Web-appendix, http://www.emn.fr/z-auto/apashkevich/WebApp_Buckling.html.

Gantmacher, 1959

Pashkevich, 2005, Design strategies for the geometric synthesis of Orthoglide-type mechanisms, Mechanism and Machine Theory, 40, 907, 10.1016/j.mechmachtheory.2004.12.006

Quennouelle, 2008, Stiffness matrix of compliant parallel mechanisms, 331