Kinematic analysis of semi-flexible robot

Abstract EN

In this work, a kinematic model of semi- flexible robot with two degrees of freedom based on the joint angles and arm ’s deflections is presented with taking in consideration the small deflection parameter (exact model), and used experimental deformation results to make a comparison between the approximate model and the exact model.

Due to the difficulties of using flexible robot in the real live, a two degrees semi-flexible robot was built; this robot will be used to get the experimental results for comparison.

The comparison shows a small difference between the approximate model and the exact model, so with increasing the flexibility this difference will increase and in some applications of robot this difference will be significant and worth to take in consideration.