2011年 第6卷 第2期
《机械工程前沿（英文）》 >> 2011年 第6卷 第2期 doi: 10.1007/s11465-011-0221-3
Stiffness analysis and experimental validation of robotic systems
Laboratory of Robotics and Mechatronics, University of Cassino, 03043 Cassino (Fr), Italy
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摘要
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.
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