Fundamentals of Mechanics of Robotic Manipulation by Marco Ceccarelli

Author:Marco Ceccarelli
Language: eng
Format: epub
ISBN: 9783030908485
Publisher: Springer International Publishing

3.7.1 A Mechanical Model

The stiffness of a robotic multibody system is given by the stiffness of the components of the system that is described by means of a suitable model of elastic response of those components. A main source of compliance for a manipulator can be considered the links, joints, and actuators with their mechanical transmissions. A suitable model can refer to lumped stiffness parameters for each component that can be identified by means of suitable linear and torsion springs. An example of such a model is shown in Fig. 3.43 in which the main compliance source of a PUMA-like robot are identified and represented as linear springs for translation deformations and as torsion springs for angular deformations. A linear spring will take into account mainly axial deformation of a link body and the corresponding spring coefficient k is the lumped parameter that describes the elastic characteristic of the body. Transversal deformations can be considered by using a cantilever model to compute the compliant displacement of an extremity point that can be modeled through a suitable torsion spring. Thus, a torsion spring is identified to consider both angular deformations and transversal compliant displacements of a link body of a manipulator.

Fig. 3.43A model for stiffness evaluation of a PUMA-like robot: a the mechanical design; b a stiffness model with lumped spring parameters

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