Experimental studies of joint flexibility for PUMA 560 robot
experimentalstud00gony.pdf (4.323Mb)Abstract
This paper investigates flexibility of the PUMA 560 industrial robot arm. The purpose is accomplished by measurement of the flexural stiffness of the key joints in the system. The joint flexibilities are linear in nature and a torsional spring constant 'k', is determined for each joint. This data is necessary for the inclusion of flexibility effects into the equations of motion.
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