Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator
- 1 October 1986
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 4 (4) , 237-242
- https://doi.org/10.1017/s0263574700009917
Abstract
SUMMARY An expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.Keywords
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