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Stiffness modeling of robotic manipulator with gravity compensator

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Academic year: 2021

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Figure

Fig. 1 Mechanics of gravity compensator.
Fig. 2 Serial industrial robot (a) and its VJM-based stiffness model (b).
Fig. 3 Industrial robot Kuka KR270 with required machining area.
Table 1 Elastostatic and geometrical parameters of robot with gravity compensator.
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