ABSTRACT
Robots, as mechanical devices, are subject to mechanical strain as a result of loads experienced in their application. These loads may result from gravity, acceleration, applied contact forces, or interaction with process dynamics. An effect of strain is deflection and consequent flexibility. No robot escapes this consequence, although the effects may be justifiably ignored in some instances. In the following pages, methods for predicting and minimizing the adverse consequences of flexibility will be presented. Primarily, arm-like, serial link devices will be examined, although lessons may often be extended to parallel link (nonserial) manipulators and mobile robots.
