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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume II: Stiffness and Metrology

By
Vladimir T. Portman
Vladimir T. Portman
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ISBN:
9780791861691
No. of Pages:
344
Publisher:
ASME Press
Publication date:
2019

Mechanics of the serial kinematics machine can be represented as a multi-DOF kinematic chain combining some elastically connected links, and each link has 1-DOF in its nominal motion (translation or rotation) relative to the neighbor one. In this chapter, only the compliance of the most compliant elements of the mechanical systems – actuated joints along the directions of actuated motion – is taken into account. The purpose is to synthesize the compliance matrix connecting the external load with small displacements of the end-effector (EE). This process is started from formulation of the manipulator Jacobian matrix integrating geometric and kinematic data...

2.1
Jacobian matrix of serial manipulators
2.2
Form-shaping system
2.3
Form-shaping function
2.4
Jacobian matrix synthesis
2.5
Compliance matrix synthesis
2.6
Stiffness matrix synthesis
2.7
Conclusions
References
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