Stiffness Matrix Analysis of Six-Revolute Serial Manipulator

• Autorzy: Knapczyk J. , Ryska M.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a simple procedure that can be used to determine the stiffness matrix of 6R serial manipulator in selected points of the work space with joint stiffness coefficients taking into account. Elastokinematical model for the robot manipulator FANUC S-420F was considered as spatial and serial kinematical chain composed of six rigid links, connected by ideal revolute joint (without clearances and deformable elements), with torsion elasticity of the joint drive system (relative torsion deformations are proportional to acted torques) taking into account. Assumed model is used for displacement analysis of the end-effector for a given applied force in quasi-static condition. The analysis results are presented as Cartesian stiffness matrix of studied manipulator.

Słowa kluczowe

EN

serial manipulator; Jacobian matrix; cartesian stiffness matrix

PL

manipulator szeregowy; jakobian; kartezjańska macierz sztywności

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2012
• Tom: Vol. 6, no. 2
• Strony: 62--65
• Opis fizyczny: Bibliogr. 6 poz., Rys.

Twórcy

autor

Knapczyk J.

autor

Ryska M.

• Cracow University of Technology, Al. Jana Pawła II 37 b, 31-864 Kraków, Poland,

Bibliografia

• 1. Dumas C. et al. (2011), Joint stiffness identification of six-revolute industrial serial robots. Robotics and Computer-Integrated Manufacturing 27, 881-888.
• 2. Góra M., Trela R. (2011a), Determination of stiffness characteristics of serial type manipulator by using wire sensors. Technical Transactions,Czasopismo Techniczne, Wyd. PK, Kraków, 1M/2011, 41-48.
• 3. Góra M., Trela R. (2011b), Experimental determination of stiffness matrix elements of serial type manipulator, Pomiary Automatyka Robotyka, 2/2011, 687-696.
• 4. Kim H.Y., Treit D.A. (1995), Configuration dependent stiffness of the PUMA 560 manipulator: Analytical and experimental results. Mechanism and Machine Theory, Vol.30, No 8, 1269-1277.
• 5. Morecki A., Knapczyk J., Kędzior K. (2002), Theory of mechanisms and manipulators, WNT Warszawa.
• 6. Tsai L.W., (1999), Robot Analysis. The Mechanics of Serial and Parallel Manipulators, A Wiley & Sons, Inc. New York.