Abstract

This paper considers a method of determining the stiffness and displacement of the output link of a tripod robot that is a part of a robotic system with relative manipulation modules based on a Jacobian matrix. It shows that the stiffness maps reveal the maximum and minimum stiffness in the robot workspace. An algorithm for calculating the error caused by the displacement of the output link under the action of the cutting force is given. The modeling results are presented.

中文翻译：

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三脚架机器人的刚度和定位精度分析

摘要

本文考虑一种确定三脚架机器人输出连杆的刚度和位移的方法，该三脚架机器人是机器人系统的一部分，具有基于雅可比矩阵的相对操纵模块。它显示了刚度图揭示了机器人工作空间中的最大和最小刚度。给出了计算输出力在切削力作用下位移引起的误差的算法。给出了建模结果。