Analysis of Stiffness and Positioning Accuracy of a Tripod Robot.

This paper considers a method of determining the stiffness and displacement of the output link of a tripod robot that is a part of a robotic system with relative manipulation modules based on a Jacobian matrix. It shows that the stiffness maps reveal the maximum and minimum stiffness in the robot workspace. An algorithm for calculating the error caused by the displacement of the output link under the action of the cutting force is given. The modeling results are presented. [ABSTRACT FROM AUTHOR]