Parametric stiffness modeling of a variable cross-section link for a collaborative robot

Abstract

This paper describes how a parametric stiffness model of the variable cross-section link of a collaborative robot is obtained. The variable cross-section link module is divided into three parts: the front connection part, the rear connection part, and the main part. The static condensation method is used to model the stiffness of the connecting parts. The parametric stiffness modeling of the main part is carried out using the structural mechanics method. The stiffness models of the three parts are integrated into the parametric stiffness model of the entire link. The parametric stiffness model of the variable cross-section link is related to the structural dimensions of the link. The elastic deformation errors in all directions obtained from the stiffness model are within 5%. The method establishes the mapping relationship between the link’s structural dimensions and its stiffness model. Based on this, the structural optimization of a collaborative robot based on parametric stiffness model is made possible.