Stiffness of serial and quasi-serial manipulators: comparison analysis
1 Innopolis University, Universitetskaya 1, 420500 Innopolis, The Republic of Tatarstan, Russia
2 Institut de Recherches en Communications et en Cybernétique de Nantes, 1 rue de la Noe, 44321 Nantes, France
3 Centre National de la Recherche Scientifique (CNRS), France
4 Prince of Songkla University, 15 Karnjanavanich Rd., Hat Yai, Songkhla 90110, Thailand
5 Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France
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.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.