End-point Deflection of a Serial Planar Manipulator with and without Static Balance by Using Springs

Abstract

The purpose of this paper is to propose deflection of manipulators with and with-out static balance. Deflection is difference between real position of manipulators and theoretical position of manipulators. In real, links are not rigid body, that is, links having deflection caused by gravity effect. For a manipulator without static balance, link vector, link mass, payload, position vector of payload and rotation angle of link are given. The reaction force on joint is inward iteratively deter-mined. The deflection and deflection angle of each link is forward iteratively determined. The deflection of distal link is affected by deflection angle of proximal link. The total deflection of each link is sum of deflection of each link and caused by proximal link. For a manipulator with static balance, the attachment vector and angle are determined by given link and payload properties; other operations are the same to which for a manipulator without static balance. A two-DOFs manipulator is as an illustrated example; comparing deflection of the manipulator without and with static balance.