{"title":"柔性连杆机器人的被动柔度。2分析与应用","authors":"Wei Wang, R. Loh, Marcelo H ANG Jr","doi":"10.1109/ICAR.1997.620185","DOIUrl":null,"url":null,"abstract":"Compliance of a robot is an important factor which often determines its application. This paper reviews the importance of passive compliance and shows the expression of passive compliance in terms of the compliance/stiffness matrix at the manipulator's end-effector. Properties of compliance/stiffness matrices are discussed. The end-effector compliances from the compliance offered by the limbs are explored as functions of joint configurations. Some computational results for the end-effector compliance of the SCARA- and PUMA-type robots are presented. An application example is provided to show the usefulness of passive compliance in automation.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Passive compliance of flexible link robots. II. Analysis and application\",\"authors\":\"Wei Wang, R. Loh, Marcelo H ANG Jr\",\"doi\":\"10.1109/ICAR.1997.620185\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Compliance of a robot is an important factor which often determines its application. This paper reviews the importance of passive compliance and shows the expression of passive compliance in terms of the compliance/stiffness matrix at the manipulator's end-effector. Properties of compliance/stiffness matrices are discussed. The end-effector compliances from the compliance offered by the limbs are explored as functions of joint configurations. Some computational results for the end-effector compliance of the SCARA- and PUMA-type robots are presented. An application example is provided to show the usefulness of passive compliance in automation.\",\"PeriodicalId\":228876,\"journal\":{\"name\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"volume\":\"5 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-07-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.1997.620185\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1997.620185","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Passive compliance of flexible link robots. II. Analysis and application
Compliance of a robot is an important factor which often determines its application. This paper reviews the importance of passive compliance and shows the expression of passive compliance in terms of the compliance/stiffness matrix at the manipulator's end-effector. Properties of compliance/stiffness matrices are discussed. The end-effector compliances from the compliance offered by the limbs are explored as functions of joint configurations. Some computational results for the end-effector compliance of the SCARA- and PUMA-type robots are presented. An application example is provided to show the usefulness of passive compliance in automation.
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