Applied Sciences, Volume 10, Issue 13
2020 July-1 - 272 articles
Cover Story: The stiffness properties of industrial robots are very important for many industrial applications, such as automatic robotic assembly and material removal processes (e.g., machining and deburring). On the one hand, in robotic assembly, joint compliance can be useful for compensating dimensional errors in the parts to be assembled; on the other hand, in material removal processes, a high Cartesian stiffness of the end-effector is required. In this paper, a compliant joint dynamic model of an industrial robot has been developed, in which joint stiffness has been experimentally identified using a modal approach. View this paper - Issues are regarded as officially published after their release is announced to the table of contents alert mailing list .
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