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| STUDY OF FLEXIBILITY FOR ROBOT MECHANISM |
| WU Jian, SUN Xingchu |
| Institute of Robot, Beijing Univ of Aero & Astro, 100083 |
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Abstract In this paper we study and initiate the quantitative calculating method of the flexibility of a robot manipulator with 6 degrees of freedom and develop the related software.Also,on the SGI working station,we have,with various typical articulated robot manipulators as examples,realized the quantitative analysis and graphicsimulation of the flexibility and drawn iso-flexibility curves in the working space,to provide a tool for obstacle avoiding and path planning of robot.
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Received: 18 September 1992
Published: 15 November 1993
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