毕树生, 宗光华. 位姿对手端刚度比可控性的影响[J]. 机器人, 1995, 17(2): 98-101,107..
BI Shusheng, ZONG Guanghua. THE EFFECT OF POSE ON CONTROLLABILITY OF END-EFFECTOR STIFFNESS RATIO. ROBOT, 1995, 17(2): 98-101,107..
Abstract：According to the principle of direct compliance control,this paper discusses the ralation betweenthe stiffness of the end-effector and the pose of compliance mechanism for a parallel link arm.In this paperthe stiffness ratio is quoted for a index of adjustable performance of end-effector'stiffness.Available valueof the stiffness ratio is limited.Controllability of end-effector's stiffness is best with Kx/Ky=1,and operat-ing range of end-effector is ralated to the stiffness ratio.
