Analytical and Experimental Study of the Stiffness of Robot Manipulators with Parallel Mechanisms
Donath, Max and Leu, M. C. (Ming-Chuan)
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.
M. Leu et al., "Analytical and Experimental Study of the Stiffness of Robot Manipulators with Parallel Mechanisms," Robotics and Manufacturing Automation, American Society of Mechanical Engineers (ASME), Jan 1985.
Winter Annual Meeting of the American Society of mechanical Engineers
Mechanical and Aerospace Engineering
Keywords and Phrases
Deflection Analysis; Force Analysis; Joint Torsional Deflections; Robot Stiffness Analysis
Article - Conference proceedings
© 1985 American Society of Mechanical Engineers (ASME), All rights reserved.
01 Jan 1985