An Experimental Setup and Procedure for Stiffness Evaluation of Robot Manipulators

摘要

In this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator's end-effector is coupled with the R-CUBE's mobile platform. As the gantry manipulator is actuated the resultant reaction forces/moments are measured via a forceorque sensor. Subsequently, compliant displacements of R-CUBE are measured by using a coordinate measuring machine. The obtained results are presented and discussed in this paper.