Abstract
Recently, industrial robots are mostly used in many areas because of their high dexterity and low price. Nevertheless, the low performance of robot stiffness is the primary limiting factor in machining applications. In this paper, a new method for identifying the joint stiffness of serial robots. The method considers the coupling of the end-effector’s rotational and translational displacements. Then, a new criterion is presented for optimizing the robot configuration. Next, the influence of each joint on the criterion is analyzed, and the corresponding joint is selected to simplify the experiment. After that, the method’s robustness, the sensitivity of the number of tests, and the experimental errors are analyzed. Finally, the KUKA KR60-3 robot is used as a descriptive example.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
