Parametric joint compliance analysis of a 3-UPU parallel robot
Mechanism and Machine Theory（2022）
摘要
•Low compliance is required for parallel robots to achieve high accuracy.•Joint compliance accounts for most robot end-effector compliance.•Analytical joint compliance models are presented to facilitate compliance design.•Numerical and experimental verifications are provided to demonstrate the models.
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关键词
Parallel robot,translational parallel manipulator,compliance and stiffness matrices,bearing compliance,center of elasticity
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