Compliance analysis and synthesis of a serial manipulator with redundant DOFs used in Tokamak

Abstract

Serial manipulator with redundant DOF joints performs the maintenance and inspection tasks in Tokamak, which needs good stiffness behavior in vertical direction and appropriate compliance in horizontal planar. According to this demand, this paper analyses the Cartesian compliance of carrying manipulator (6R) and the whole serial manipulator (10R), respectively. Then an equivalent full DOF serial mechanism which performs the same compliance is proposed. Based on the equivalent robotic arm, the desired compliance behavior is realized by adding several passive springs without changing the parameters of the original ten joints.