Δ-Y Transformations in Manipulator’s Stiffness Analysis

Alexandr Klimchik, Anatol Pashkevich, Anatol Pashkevich

2025

Abstract

The paper proposes a Δ-Y transformations technique for stiffness modelling of over-constrained manipulators with internal cross-linkages. It allows representing complex structures as a serial-parallel equivalent one that can be easily handled by the VJM-based method. To derive desired analytical expressions for the equivalent serial-parallel structure, the MSA-based stiffness modelling approach is employed first, which allows describing the stiffness response for both the Δ and Y structures operating with VJM-type stiffness matrices. Further, the desired relations between equivalent Δ-Y and Y-Δ stiffness matrices are obtained. The example of stiffness modelling of a non-rigid Gough-Stewart platform with multiple cross-linkages demonstrates the benefits of the proposed technique

Paper Citation

in Harvard Style

Klimchik A. and Pashkevich A. (2025). Δ-Y Transformations in Manipulator’s Stiffness Analysis. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 72-81. DOI: 10.5220/0013732600003982

in Bibtex Style

@conference{icinco25,
author={Alexandr Klimchik and Anatol Pashkevich},
title={Δ-Y Transformations in Manipulator’s Stiffness Analysis},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={72-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013732600003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Δ-Y Transformations in Manipulator’s Stiffness Analysis
SN - 978-989-758-770-2
AU - Klimchik A.
AU - Pashkevich A.
PY - 2025
SP - 72
EP - 81
DO - 10.5220/0013732600003982
PB - SciTePress