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Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator

Published online by Cambridge University Press:  09 March 2009

M. Shahinpoor  and
A. Meghdari
M. Shahinpoor
Affiliation:
Department of Mechanical Engineering, University of New Mexico, Albuquerque, New Mexico 87131 (USA)
A. Meghdari
Affiliation:
Department of Mechanical Engineering, University of New Mexico, Albuquerque, New Mexico 87131 (USA)
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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.

Type
Articles
Information
Robotica , Volume 4 , Issue 4 , October 1986 , pp. 237 - 242
Copyright
Copyright © Cambridge University Press 1986

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