Identification of material and joint properties based on the 3D mapping of the Quattro static stiffness

摘要

In this paper, we present an identification procedure of mechanical parameters of a parallel robotic structure, the Adept Quattro robot Two parameters are identified: the torsional stiffness of the actuated revolute joints, and the Young's modulus of the composite material used for the arms of the robot. The experimental static stiffness map is obtained using static loads and a tracker laser. A wire-frame finite element model is used to simulate static stiffness maps. The identification is based on the comparison between the numerical and the experimental 3D maps. The Quattro robot is mainly studied in the literature for its dynamic performances. The present analysis of its static stiffness is however interesting for the determination of its polyvalence in operational tasks.