Abstract
The stiffness of a revolute robot manipulator with a parallel mechanism was studied analytically and experimentally. In the analysis the applied force was decomposed into two components: one in the plane of the manipulator and the other perpendicular to this plane. The balancing joint torques and the reactive bearing forces were solved using the free-body approach. The elastic deflections of joints, links, and bearings were obtained and the end-effector deflection resulting from these deflections derived. Experiments were performed on the GE P-50 robot to verify the validity of the analysis and to compare the relative significance of the stiffness of Joints, of links, and or bearings. The results showed that joint compliance is the dominant source of compliance and that the predicted end-effector deflections are within a 20% difference of the experimental data.
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