CAD-based approach for identification of elasto-static parameters of robotic manipulators

DOI10.1016/J.FINEL.2013.06.008zbMATH Open1368.70012arXiv1311.6685OpenAlexW2088948858WikidataQ57086176 ScholiaQ57086176MaRDI QIDQ2248235FDOQ2248235

Authors: Alexandr Klimchik, Anatol Pashkevich, Damien Chablat 

Publication date: 30 June 2014

Published in: Finite Elements in Analysis and Design (Search for Journal in Brave)

Abstract: The paper presents an approach for the identification of elasto-static parameters of a robotic manipulator using the virtual experiments in a CAD environment. It is based on the numerical processing of the data extracted from the finite element analysis results, which are obtained for isolated manipulator links. This approach allows to obtain the desired stiffness matrices taking into account the complex shape of the links, couplings between rotational/translational deflections and particularities of the joints connecting adjacent links. These matrices are integral parts of the manipulator lumped stiffness model that are widely used in robotics due to its high computational efficiency. To improve the identification accuracy, recommendations for optimal settings of the virtual experiments are given, as well as relevant statistical processing techniques are proposed. Efficiency of the developed approach is confirmed by a simulation study that shows that the accuracy in evaluating the stiffness matrix elements is about 0.1%.

Full work available at URL: https://arxiv.org/abs/1311.6685

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zbMATH Keywords

robotic manipulatorfinite element analysisstiffness matrixstiffness modelingCAD-based identificationelasto-static parameters

Mathematics Subject Classification ID

Computer-aided design (modeling of curves and surfaces) (65D17) Finite element, Rayleigh-Ritz and Galerkin methods for boundary value problems involving PDEs (65N30) Robot dynamics and control of rigid bodies (70E60)

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Cited In (5)

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• Static stability of manipulator configuration: influence of the external loading
• Increasing Machining Accuracy of Industrial Manipulators Using Reduced Elastostatic Model
• Identification of finite-motion parameters of serial chains via measurement of \(6 \times 6\) stiffness matrices

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