{"title":"Stiffness distribution and homogeneity of mechanical structures with application to planar robots","authors":"Zdenek Neusser","doi":"10.1016/j.mechmachtheory.2025.106078","DOIUrl":null,"url":null,"abstract":"<div><div>This work presents static stiffness analysis of mechanical structure. Using singular value decomposition, the principal stiffness values and their directions are obtained at every particular workspace point. Based on obtained principal stiffness magnitudes the stiffness homogeneity is evaluated at every workspace point. New methodology for mechanical structure stiffness analysis is applied to serial two-link planar robot and 2-DOF parallel planar robot mounted on base frame by two sliding ways. Resulting contour plots of minimal stiffness behaviour and system homogeneity distribution allow further structure improvement and optimal usage.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"214 ","pages":"Article 106078"},"PeriodicalIF":4.5000,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanism and Machine Theory","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0094114X25001673","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0
Abstract
This work presents static stiffness analysis of mechanical structure. Using singular value decomposition, the principal stiffness values and their directions are obtained at every particular workspace point. Based on obtained principal stiffness magnitudes the stiffness homogeneity is evaluated at every workspace point. New methodology for mechanical structure stiffness analysis is applied to serial two-link planar robot and 2-DOF parallel planar robot mounted on base frame by two sliding ways. Resulting contour plots of minimal stiffness behaviour and system homogeneity distribution allow further structure improvement and optimal usage.
期刊介绍:
Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal.
The main topics are:
Design Theory and Methodology;
Haptics and Human-Machine-Interfaces;
Robotics, Mechatronics and Micro-Machines;
Mechanisms, Mechanical Transmissions and Machines;
Kinematics, Dynamics, and Control of Mechanical Systems;
Applications to Bioengineering and Molecular Chemistry