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    YU Yue-qing, LU: Qiang, MA Lan. Experimental Study on Trajectory Tracking of Parallel Robots With Compliant Joints[J]. Journal of Beijing University of Technology, 2015, 41(4): 486-492. DOI: 10.11936/bjutxb2014060014
    Citation: YU Yue-qing, LU: Qiang, MA Lan. Experimental Study on Trajectory Tracking of Parallel Robots With Compliant Joints[J]. Journal of Beijing University of Technology, 2015, 41(4): 486-492. DOI: 10.11936/bjutxb2014060014
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    Experimental Study on Trajectory Tracking of Parallel Robots With Compliant Joints

      Abstract
    • A compliant parallel manipulator with compliant joints instead of rigid ones was built. The trajectory of the 3-DOF compliant-joint robot's moving platform was tracked and measured by the OPTOTRAK system. Comparative analysis shows that the compliant parallel robot runs smoothly. The errors caused by axial drift and vibration are controlled within the allowed range.
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