Configuration dependent stiffness of the PUMA 560 manipulator: Analytical and experimental results

Joint stiffness of three PUMA 560 manipulators has been measured experimentally. Results of these studies indicate that stiffness data for joints 1, 2 and 3 are similar between PUMA 560 manipulators. Nonlinear relationships between end effector load, end effector displacement and joint configuration are explained. Because mass and inertia data has already been determined, complete dynamic models of the PUMA 560 manipulator which include joint compliance data, are now possible. Using linearized equilibrium equations, static, compliant, configuration dependent joint deflections are determined and compared with experimental results.