Screw theory on spatial stiffness analysis of robots with elastic joints and links

被引：0
|
作者：
Ding, XL [1 ]
Selig, JM [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China
来源：
ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS | 2004年
关键词：
compliance; screw theory; robots;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The spatial compliance behavior of the robots with elastic joints and links via screw theory is studied in this article. After a brief discussion on the screw theory of robots with elastic joints, the Von Mises' beam theory is introduced to represent for the spatial compliance of the link, and the compliance behavior of the manipulator with elastic links is analyzed. Then, the kinematics of the robots with elastic links and joints is further discussed. And we try to seek the connection between the compliance of the whole manipulator system and its individual joints and links. Our studies convince that the screw theory is a facilitated mathematical tool for the representation and analysis of robotic system with spatial compliance.
引用
收藏
页码：1873 / 1877
页数：5
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