JOINT STIFFNESS EVALUATION OF A SIMPLIFIED ROBOT ARM STRUCTURE BY USING FINITE ELEMENTS
The article proposes a simple method to evaluate the stiffness of a robot joint by using finite element simulation. In this purpose a simple robot arm structure is chosen and the stiffness of an elastic joint is assessed through simulation. The first approach is by using a static analysis followed by a dynamic one. The geometry and the material model in the observed joint are well simulated while the material model of the links of the arm are distorted becoming very stiff and massless or completely constrained.The static and the dynamic approach are giving correlated results in terms of the equivalent joint stiffness.
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