Kinematic Analysis of Semi-Flexible Robot


In this work, a kinematic model of semi- flexible robot with two degrees offreedom based on the joint angles and arm’s deflections is presented with taking inconsideration the small deflection parameter (exact model), and used experimentaldeformation results to make a comparison between the approximate model and theexact model. Due to the difficulties of using flexible robot in the real live, a twodegrees semi-flexible robot was built; this robot will be used to get the experimentalresults for comparison. The comparison shows a small difference between theapproximate model and the exact model, so with increasing the flexibility thisdifference will increase and in some applications of robot this difference will besignificant and worth to take in consideration.