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Keywords: stiffness model
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061009.
Paper No: JMR-23-1232
Published Online: October 4, 2023
... parts of motion control. Therefore, this paper focuses on establishing the kinematics, dynamics, and stiffness models for an Exechon-like hybrid robot, which are then used for error compensation and velocity planning to improve the robot’s motion performance. First, the kinematic model is derived...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061018.
Paper No: JMR-22-1411
Published Online: May 2, 2023
.... As the main flexible component in SEA, the accurate modeling of the stiffness of the elastic element is essential. However, the existing stiffness models based on classical Euler–Bernoulli beam theory contain large errors with the actual situation, which increases the difficulty of design. In this paper...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041009.
Paper No: JMR-22-1085
Published Online: November 10, 2022
... enhancement of a previously invented 2UPR&1RPS&1RPU RAPM. For this purpose, three critical issues are clarified, i.e., establishing a sufficient accurate stiffness model, constructing a reasonable index frame for evaluating rigidity performance, and quantifying the effect of redundancy on the rigidity...