The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It 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. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator.

翻译：本文提出了一种基于矩阵结构分析的系统性方法，用于复杂混合结构机械臂的刚度建模。与先前研究成果相比，该方法适用于包含闭环结构、柔性连杆、刚性连接、被动与弹性关节，并承受外部载荷与预载荷的混合架构。所提出的方法以半解析方式生成笛卡尔刚度矩阵，将机械臂刚度模型表示为描述连杆弹性的常规方程组，并辅以描述连杆间连接关系的约束方程组。该方法允许用户直接聚合刚度模型方程，避免了传统扩展刚度矩阵中的列/行合并过程。通过NaVaRo机械臂的刚度分析，展示了该方法的优势。