Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method
Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides r...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Chebili, Zakarya [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Anmerkung: |
© The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| Übergeordnetes Werk: |
Enthalten in: Iranian journal of science and technology - Cham, Switzerland : Springer International Publishing, 1999, 47(2023), 4 vom: 01. Apr., Seite 2225-2241 |
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| Übergeordnetes Werk: |
volume:47 ; year:2023 ; number:4 ; day:01 ; month:04 ; pages:2225-2241 |
| Links: |
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| DOI / URN: |
10.1007/s40997-023-00635-z |
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| Katalog-ID: |
SPR053540794 |
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| 520 | |a Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. | ||
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| 700 | 1 | |a Alem, Said |4 aut | |
| 700 | 1 | |a Djeffal, Selman |4 aut | |
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10.1007/s40997-023-00635-z doi (DE-627)SPR053540794 (SPR)s40997-023-00635-z-e DE-627 ger DE-627 rakwb eng Chebili, Zakarya verfasserin (orcid)0000-0001-5561-1149 aut Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 Alem, Said aut Djeffal, Selman aut Enthalten in Iranian journal of science and technology Cham, Switzerland : Springer International Publishing, 1999 47(2023), 4 vom: 01. Apr., Seite 2225-2241 (DE-627)844238007 (DE-600)2843074-8 2364-1835 nnns volume:47 year:2023 number:4 day:01 month:04 pages:2225-2241 https://dx.doi.org/10.1007/s40997-023-00635-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2023 4 01 04 2225-2241 |
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10.1007/s40997-023-00635-z doi (DE-627)SPR053540794 (SPR)s40997-023-00635-z-e DE-627 ger DE-627 rakwb eng Chebili, Zakarya verfasserin (orcid)0000-0001-5561-1149 aut Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 Alem, Said aut Djeffal, Selman aut Enthalten in Iranian journal of science and technology Cham, Switzerland : Springer International Publishing, 1999 47(2023), 4 vom: 01. Apr., Seite 2225-2241 (DE-627)844238007 (DE-600)2843074-8 2364-1835 nnns volume:47 year:2023 number:4 day:01 month:04 pages:2225-2241 https://dx.doi.org/10.1007/s40997-023-00635-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2023 4 01 04 2225-2241 |
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10.1007/s40997-023-00635-z doi (DE-627)SPR053540794 (SPR)s40997-023-00635-z-e DE-627 ger DE-627 rakwb eng Chebili, Zakarya verfasserin (orcid)0000-0001-5561-1149 aut Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 Alem, Said aut Djeffal, Selman aut Enthalten in Iranian journal of science and technology Cham, Switzerland : Springer International Publishing, 1999 47(2023), 4 vom: 01. Apr., Seite 2225-2241 (DE-627)844238007 (DE-600)2843074-8 2364-1835 nnns volume:47 year:2023 number:4 day:01 month:04 pages:2225-2241 https://dx.doi.org/10.1007/s40997-023-00635-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2023 4 01 04 2225-2241 |
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10.1007/s40997-023-00635-z doi (DE-627)SPR053540794 (SPR)s40997-023-00635-z-e DE-627 ger DE-627 rakwb eng Chebili, Zakarya verfasserin (orcid)0000-0001-5561-1149 aut Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 Alem, Said aut Djeffal, Selman aut Enthalten in Iranian journal of science and technology Cham, Switzerland : Springer International Publishing, 1999 47(2023), 4 vom: 01. Apr., Seite 2225-2241 (DE-627)844238007 (DE-600)2843074-8 2364-1835 nnns volume:47 year:2023 number:4 day:01 month:04 pages:2225-2241 https://dx.doi.org/10.1007/s40997-023-00635-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2023 4 01 04 2225-2241 |
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10.1007/s40997-023-00635-z doi (DE-627)SPR053540794 (SPR)s40997-023-00635-z-e DE-627 ger DE-627 rakwb eng Chebili, Zakarya verfasserin (orcid)0000-0001-5561-1149 aut Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 Alem, Said aut Djeffal, Selman aut Enthalten in Iranian journal of science and technology Cham, Switzerland : Springer International Publishing, 1999 47(2023), 4 vom: 01. Apr., Seite 2225-2241 (DE-627)844238007 (DE-600)2843074-8 2364-1835 nnns volume:47 year:2023 number:4 day:01 month:04 pages:2225-2241 https://dx.doi.org/10.1007/s40997-023-00635-z lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_165 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 47 2023 4 01 04 2225-2241 |
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Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. 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Chebili, Zakarya |
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Chebili, Zakarya misc Spherical parallel manipulator misc Stiffness analysis misc Matrix structural analysis misc Kinematic redundancy misc Joint deflection Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method |
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Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method Spherical parallel manipulator (dpeaa)DE-He213 Stiffness analysis (dpeaa)DE-He213 Matrix structural analysis (dpeaa)DE-He213 Kinematic redundancy (dpeaa)DE-He213 Joint deflection (dpeaa)DE-He213 |
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Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method |
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Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method |
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Chebili, Zakarya |
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comparative analysis of stiffness in redundant co-axial spherical parallel manipulator using matrix structural analysis and vjm method |
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Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method |
| abstract |
Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstractGer |
Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
| abstract_unstemmed |
Abstract Several studies have addressed stiffness analysis through different available methods including finite element analysis (FEA) and the virtual joint method (VJM) among others. However, matrix structural analysis (MSA) has not been used, although previous research has shown that it provides reliable results. Therefore, this paper focuses on the kineto-static analysis of a three-degree-of-freedom symmetrical parallel kinematic manipulator (PKM) with curved links, known as a spherical parallel manipulator (SPM). First, kinematic modeling is introduced through the inverse kinematic problem and the Jacobian matrix; then a detailed study of the stiffness modeling is established. Secondly, the force–deflection relationship is studied in the form of a numerical calculation and a graphical representation. Moreover, the kinematic redundancy is derived. Through MATLAB simulations, the deflection of the joints in both parts, translation, and rotation, is graphically represented using a numerical calculation method. Comparatively, SPM is purposefully compared to VJM in order to determine the efficiency of the proposed method. Interestingly, kinematic redundancy leads to better SPM performance, in which adding extra links (legs) to the robot strengthens the SPM structure and yields less joint deflection. It is worth noting that the MSA technique successfully deals with complex structures such as closed-loop chains, which is clearly apparent in the simplicity of its mathematical model toward the considered robot. © The Author(s), under exclusive licence to Shiraz University 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law. |
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| title_short |
Comparative Analysis of Stiffness in Redundant Co-axial Spherical Parallel Manipulator Using Matrix Structural Analysis and VJM Method |
| url |
https://dx.doi.org/10.1007/s40997-023-00635-z |
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Alem, Said Djeffal, Selman |
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10.1007/s40997-023-00635-z |
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2024-07-03T20:16:31.278Z |
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| score |
7.397748 |