Damien Chablat

Appendix B : Animated illustrations of buckling phenomena in manipulators

For the paper Enhanced stiffness modeling of manipulators with passive joints
by A. Pashkevicha , A. Klimchik, D. Chablat
Submmited to "Mechanism and Machine Theory " (2010)

 

B.1 Serial kinematic chain

Buckling in S-configuration with 1D-springs (subsection 6.1.3)

Nonlinearity in ?-configuration with 1D-springs (subsection 6.1.3)

Buckling in Z-configuration with 1D-springs (subsection 6.1.3)

Buckling in manipulator with 3D-springs (subsection 6.1.5)

B.2 Orthoglide manipulators

Buckling for near-flat configuration (subsection 6.2.4)