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Three-dimensional flexural-joint stiffness analysis of flexible manipulator arms

Published online by Cambridge University Press:  09 March 2009

A. Meghdari  and
M. Shahinpoor
A. Meghdari
Affiliation:
Department of Mechanical Engineering, Robotics Research Laboratories, The University of New Mexico, Albuquerque, NM 87131 (USA)
M. Shahinpoor
Affiliation:
Department of Mechanical Engineering, Robotics Research Laboratories, The University of New Mexico, Albuquerque, NM 87131 (USA)
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Summary

This paper presents a complete derivation of the combined flexural-joint stiffness matrix and the elastic deformation field of flexible manipulator arms treated in a three-dimensional fashion. The stiffness properties are derived directly from the differential equations used in the engineering beam theory. The expressions developed here can readily be used in the modeling, control and design of light weight flexible robot manipulators. A two-link arm is used to formulate these expressions and the results can be generalized to n–link manipulators. The stiffness matrix for a robotic link element in 3-D is of the order of 12 X 12, and for an n–link robotic arm the total elemental and system stiffness matrices will be of the order of the (12n X 12n) and 6(n + 1) X 6(n + 1), respectively.

Keywords

ArmsRobotStiffnessJointsAnalysis
Type
Research Article
Information
Robotica , Volume 6 , Issue 3 , July 1988 , pp. 203 - 212
Copyright
Copyright © Cambridge University Press 1988

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