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Communication Dans Un Congrès Année : 2016

Stiffness of serial and quasi-serial manipulators: comparison analysis

Résumé

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.
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Dates et versions

hal-02947183 , version 1 (23-09-2020)

Identifiants

  • HAL Id : hal-02947183 , version 1

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Alexandr Klimchik, Evgeni Magid, Stéphane Caro, Kriangkrai Waiyakan, Anatol Pashkevich. Stiffness of serial and quasi-serial manipulators: comparison analysis. 2016 International Conference on Mechanical, System and Control Engineering (ICMSC 2016), May 2016, Moscow, Russia. ⟨hal-02947183⟩
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