{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,24]],"date-time":"2025-08-24T01:34:54Z","timestamp":1755999294828,"version":"3.33.0"},"reference-count":12,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5825,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1991,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Traditionally, robotic deflection analysis for a low\u2010weight robot has been performed based on an assumption that each link is treated as a cantilever beam, which leads to no angular deflection at a joint. In practice, a robotic intermediate joint is linearly and angularly deflected when a load is applied at the end\u2010effector. It is found in this study that the additional link deflection resulting from the angular deflection of a robotic revolute joint substantially contributes to the end\u2010effector's total deflection. This article presents an improved method via a combination of classical beam theory, energy methods and the concepts of differential relationships to more accurately calculate the static deflection at the end\u2010effector. A systematic approach to deflection calculation through three different Jacobians are presented. The study also shows that the end\u2010effector's deflection heavily depends on robotic arm configurations. The deflection is then compensated based on the selected optimum configuration. The theoretical deflection analysis is verified by experimental results. A planar two\u2010link robot and a six\u2010degree\u2010of\u2010freedom Elbow Manipulator are used for numerical illustration and calculation procedure.<\/jats:p>","DOI":"10.1002\/rob.4620080208","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:59:46Z","timestamp":1183719586000},"page":"267-288","source":"Crossref","is-referenced-by-count":8,"title":["An improved method for on\u2010line calculation and compensation of the static deflection at a robot end\u2010effector"],"prefix":"10.1002","volume":"8","author":[{"given":"Paul P.","family":"Lin","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hsiang\u2010Dih","family":"Chiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiu Xun","family":"Cui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"D. E.Whitney \u201cDeflection and Vibration of Jointed Beams Design and Control of Remote Manipulators \u201d NASA Quarterly Report CR\u2010123795 July 1972."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(83)90060-5"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149665"},{"key":"e_1_2_1_5_2","first-page":"1","article-title":"Elastic deformation characteristics of PUMA 560 robot manipulator","volume":"2","author":"Maghdari A.","year":"1987","journal-title":"International Journal of Robotics and Automation"},{"key":"e_1_2_1_6_2","first-page":"1","article-title":"Motion planing for robots using an elastic deflection compensating algorithm","volume":"2","author":"Fenton R. G.","year":"1987","journal-title":"International Journal of Robotics and Automation"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"S. C.TangandC. C.Wang \u201cComputation of the effects of link deflections and joint compliance on robot positioning \u201d in Proc. of the 1987 IEEE Conference on Robotics and Automation 1987 pp.910\u2013915.","DOI":"10.1109\/ROBOT.1987.1087931"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143737"},{"volume-title":"Robot Manipulators: Mathematics, Programming, and Control","year":"1986","author":"Paul R. P.","key":"e_1_2_1_9_2"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. S.Hartenberg \u201cA kinematic notation for lower\u2010pair mechanisms based on matrices \u201d ASME Journal of Applied Mechanics June 215\u2013221(1955).","DOI":"10.1115\/1.4011045"},{"volume-title":"Mechanics of Materials","year":"1971","author":"Timoshenko S. P.","key":"e_1_2_1_11_2"},{"volume-title":"Advanced Strength and Applied Elasticity","year":"1987","author":"Ugural A. C.","key":"e_1_2_1_12_2"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258923"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620080208","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620080208","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:19:17Z","timestamp":1737184757000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620080208"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,4]]},"references-count":12,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1991,4]]}},"alternative-id":["10.1002\/rob.4620080208"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620080208","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1991,4]]}}}