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The paper focuses on the stiffness modeling of a new type of compliantmanipulator and its non-linear behavior while interacting with the environment.The manipulator under study is a serial mechanical structure composed ofdualtriangle segments. The main attention is paid to the initial straightconfiguration which may suddenly change its shape under the loading. It wasdiscovered that under the external loading such manipulator may have sixequilibrium configurations but only two of them are stable. In the neighborhoodof these configurations, the manipulator behavior was analyzed using theVirtual Joint Method (VJM). This approach allowed us to propose an analyticaltechnique for computing a critical force causing the buckling and evaluate themanipulator shape under the loading. A relevant simulation study confirmed thevalidity of the developed technique and its advantages in non-linear stiffnessanalysis.

Non-linear stiffness modeling of multi-link compliant serial manipulator composed of multiple tensegrity segments