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Wu. Intell Robot 2021;1(2):99-115  I http://dx.doi.org/10.20517/ir.2021.11           Page 115



               APPENDIX A: STIFFNESS MATRICES OF ARM LINKS
               The stiffness matrices of the upper and lower links K    and K    for the 5-dof robotic arm, computed by means
               of finite element analysis (FEA) with ANSYS, are given as





                                     0.0309   0       0        0        0       0   
                                                                                    
                                      0     0.2675    0        0        0     0.4176 
                                                                                    
                                                                                    
                                      0       0     0.3574     0     −0.5957    0      6          (A-1a)
                               K    =                                                · 10
                                      0       0       0     15.3676     0       0   
                                                                                    
                                      0       0    −0.5957     0      1.6919    0   
                                                                                    
                                      0     0.4176    0        0        0     1.7505 
                                                                                    
                                     0.0417   0       0        0        0       0  
                                                                                   
                                      0    1.0452     0        0        0     2.5493 
                                                                                   
                                                                                   
                                      0       0     1.1631     0     −2.8369    0      6          (A-1b)
                               K    =                                               · 10
                                      0       0       0     17.2304     0       0  
                                                                                   
                                      0       0    −2.8369     0     8.3105     0  
                                                                                   
                                      0    2.5493     0        0        0     8.2351 
                                                                                   
               where the blocks corresponding to rotation, translation, and coupling terms are given in Nm/rad, N/rad, and
               N/m, respectively.
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