Abstract
In this paper, the strain expressions a manipulator arm are established. The strain expressions affected by gravity, suspension force and torque are considered as well. The arm model is simplified as a cantilever beam, which makes the derivation more concise. In addition, the strain gauges are set on the arm to collect the strain data when the manipulator operates. The parameters of additional forces and torques are identified. And the fitting curve is very close to the experimental data.
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