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Stiffness analysis of multibody systems using matrix structural analysis—MSA

Published online by Cambridge University Press:  10 February 2015

G. D. L. Soares Júnior ,
J. C. M. Carvalho  and
R. S. Gonçalves
G. D. L. Soares Júnior
Affiliation:
Federal University of Uberlandia School of Mechanical Engineering Uberlandia, MG, Brazil. E-mails:gliglijr@hotmail.com, jcmendes@mecanica.ufu.br
J. C. M. Carvalho
Affiliation:
Federal University of Uberlandia School of Mechanical Engineering Uberlandia, MG, Brazil. E-mails:gliglijr@hotmail.com, jcmendes@mecanica.ufu.br
R. S. Gonçalves*
Affiliation:
Federal University of Uberlandia School of Mechanical Engineering Uberlandia, MG, Brazil. E-mails:gliglijr@hotmail.com, jcmendes@mecanica.ufu.br
*
*Corresponding author. E-mail: rsgoncalves@mecanica.ufu.br
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Summary

This paper deals with the stiffness analysis of multibody systems using the Matrix Structural Analysis—MSA. This methodology allows us to obtain the stiffness matrix of the structure from the stiffness properties of each element. First the MSA method is described and its application is detailed using an L-structure in order to make easy its understanding. Numerical and experimental results obtained for the L-structure and a 6-RSS parallel manipulator, follow to prove the validity of the methodology.

Keywords

Parallel manipulatorMultibody systemsStiffness analysisMatrix structural analysis

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Type
Articles
Information
Robotica , Volume 34 , Issue 10 , October 2016 , pp. 2368 - 2385
Copyright
Copyright © Cambridge University Press 2015 

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