Authors
Abstract
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.
Keywords
)
