Affiliation:
1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China
Abstract
Recently, industrial robots are mostly used in many areas because of their high dexterity and low price. Nevertheless, the low performance of robot stiffness is the primary limiting factor in machining applications. In this paper, a new method for identifying the joint stiffness of serial robots. The method considers the coupling of the end-effector’s rotational and translational displacements. Then, a new criterion is presented for optimizing the robot configuration. Next, the influence of each joint on the criterion is analyzed, and the corresponding joint is selected to simplify the experiment. After that, the method’s robustness, the sensitivity of the number of tests, and the experimental errors are analyzed. Finally, the KUKA KR60-3 robot is used as a descriptive example.
Funder
Jilin Provincial Key Program of Science and Technology Development
Education Department of Jilin Province
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Cited by
2 articles.
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