Abstract
This article presents the explanation of higher than expected increase of stiffness of coupled robots in some geometric configurations against its expected simple addition. This phenomenon was named the vault principle for robots. In order to achieve that and to explore fully the consequences it was necessary to develop a new method for robot stiffness analysis. Single serial robot is compared with two serial robots mutually connected. Connected (coupled) robots are analyzed in five various topological configurations. The end effector stiffness field is evaluated at particular points of intersections of workspaces of five topological configurations in order to preserve the objectivity of the comparison. The new method for robot stiffness analysis is based on the evaluation of minimum/maximum values of principal axes of stiffness distribution determined by the singular value decomposition. The manimum/maximum values across the workspace are processed by average/median and used for computing homogeneity factor. It is a new integral criterion for robot topology configuration judgment. The direct implications of these findings are relevant to high-precision milling applications in cooperative robotic setups.
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