文章基本信息

标题：Stiffness of serial and quasi-serial manipulators: comparison analysis
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作者：Alexandr Klimchik ; Alexandr Klimchik ; Evgeni Magid 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2016
卷号：75
页码：1-5
DOI：10.1051/matecconf/20167502003
语种：English
出版社：EDP Sciences
摘要：The paper deals with comparison analysis of serial and quasi-serial manipulators. It shows a difference between stiffness behaviours of corresponding industrial robots under external loading, which is caused by machining process. The analysis is based on the estimation of compliance errors induced by cutting forces that are applied to the manipulator end-effector. We demonstrate that the quasi-seral manipulators are preferable for large-dimensional tasks while the quasi-serial ones better suit small size tasks.