Compliance model of Exechon manipulators with an offset wrist

P.C. Lopez-Custodio, R. Fu, J.S. Dai, Y. Jin

Research output: Contribution to journalArticlepeer-review

55 Downloads (Pure)


The stiffness of the Exechon hybrid manipulator is a crucial performance indicator as the manipulator is used as a 5-axis machine tool. Normally, the serial module of the Exechon is not included in the kinematic and stiffness analysis. In terms of kinematics, the parallel and serial modules are said to be decoupled,i.e. parallel module can be solved for position and the serial module can be used to compensate the parasitic orientation of the parallel platform. This is only possible when the serial module is a perfect spherical wrist. However, several models of Exechon technology have an offset wrist rather than a spherical one. Such an offset makes it impossible to obtain a kinematic decoupling.In all publications available in the literature, the Exechon is considered tohave a perfect spherical wrist. Therefore, this paper presents the inverse kinematics and compliance model of Exechon manipulators with offset wrists. The unknown coefficients in the compliance model are determined by optimizing the model against experimental data. The resulting predictions are then compared against more experimental results to validate the model.
Original languageEnglish
Article number104558
Number of pages31
JournalMechanism and Machine Theory
Early online date04 Oct 2021
Publication statusPublished - Jan 2022


Dive into the research topics of 'Compliance model of Exechon manipulators with an offset wrist'. Together they form a unique fingerprint.

Cite this