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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.