Title

Analytical and Experimental Study of the Stiffness of Robot Manipulators with Parallel Mechanisms

Editor(s)

Donath, Max and Leu, M. C. (Ming-Chuan)

Abstract

The stiffness of a revolute-type robot manipulator with a parallel mechanism was studied analytically and experimentally. In the analysis the applied force was decomposed into two components: one on the plane of the manipulator and the other perpendicular to it. The balancing torques of the joints and the reactive forces at the bearings were solved using the free-body approach. The elastic deflections of joints, links, and bearings were then obtained and the end-effector deflection resulted from these deflections derived. The analysis was applied to the GE P-50 robot in conjunction with experiments to verify the validity of the analysis and to compare the relative significance among the stiffnesses of joints, links, and bearings.

Meeting Name

Winter Annual Meeting of the American Society of mechanical Engineers

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Deflection Analysis; Force Analysis; Joint Torsional Deflections; Robot Stiffness Analysis

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1985 American Society of Mechanical Engineers (ASME), All rights reserved.

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