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Compliance Analysis of Constrained Spatial Flexible Manipulators  

Kim, Jin-Soo (전주대학교 기계자동차공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.15, no.3, 2006 , pp. 91-96 More about this Journal
Abstract
The aim of this paper is to clarify the structural compliance of the constrained spatial flexible manipulator and to develop the force control by using the compliance of the links. Using the dependency of elastic deflections of links on contact force, vibrations for constrained vertical motion have been suppressed successfully by controlling the position of end-effector. However, for constrained horizontal motion, the vibrations cannot be suppressed by only controlling position of end-effector. We present the experimental results for constrained vertical motion, and constrained horizontal motion. Finally, a comparison between these results is presented to show the validity of link compliance.
Keywords
Structural compliance; Spatial flexible manipulator; Vertical motion; Horizontal motion; Experimental result;
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