The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle segments. The main attention is paid to the initial straight configuration which may suddenly change its shape under the loading. It was discovered that under the external loading such manipulator may have six equilibrium configurations but only two of them are stable. In the neighborhood of these configurations, the manipulator behavior was analyzed using the Virtual Joint Method (VJM). This approach allowed us to propose an analytical technique for computing a critical force causing the buckling and evaluate the manipulator shape under the loading. A relevant simulation study confirmed the validity of the developed technique and its advantages in non-linear stiffness analysis.

中文翻译：

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多张拉整体段组成的多连杆柔性串联机械手非线性刚度建模

本文重点研究新型柔性机械手的刚度建模及其与环境交互时的非线性行为。所研究的机械手是由双三角形段组成的串联机械结构。主要关注初始直线配置，它可能会在负载下突然改变其形状。发现在外部负载下，这种机械手可能有六个平衡配置，但只有两个是稳定的。在这些配置的附近，使用虚拟关节方法 (VJM) 分析了机械手的行为。这种方法使我们能够提出一种分析技术来计算导致屈曲的临界力并评估负载下的机械手形状。