Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator

Abstract

SUMMARY An expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.