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Ding Xilun
Robotics Research Institute,
Beijing University of Aeronautics
& Astronautics,
Beijing 100083, China
Selig Jon Mark
School of Computing Information
Systems and Mathematics,
South Bank University,
103 Borough Road,
London SE1 0AA, UK |
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SCREW THEORY ON
SPATIAL STIFF-
NESS ANALYSIS OF ROBOTS WITH
ELASTIC JOINTS AND LINKS*
Abstract: The spatial compliance behavior of the robots with elastic joints and links via screw theory is studied. 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 the connection between the compliance of the whole manipulator system and its individual joints and links is obtained. It is convinced by our study that the screw theory is a facilitated mathematical tool for the representation and analysis of robotic system with spatial compliance.
Key words:
Compliance Screw theory Robots |