RESEARCH ARTICLE

Stiffness analysis and experimental validation of robotic systems

  • Giuseppe CARBONE
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  • Laboratory of Robotics and Mechatronics, University of Cassino, 03043 Cassino (Fr), Italy

Received date: 18 Nov 2010

Accepted date: 20 Jan 2011

Published date: 05 Jun 2011

Copyright

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg

Abstract

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.

Cite this article

Giuseppe CARBONE . Stiffness analysis and experimental validation of robotic systems[J]. Frontiers of Mechanical Engineering, 0 , 6(2) : 182 -196 . DOI: 10.1007/s11465-011-0221-3

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