Abstract
Stiffness is a measure of the resistance offered by an elastic body to deformation in response to an applied force [1,2,3,4]. The static stiffness of the robotic mechanism denotes the elastic deformation when the robot remains stationary and is under static wrenches [5, 6]. In robotic applications such as assembling large components in aviation or aerospace, the assembling motion is relatively slow. External wrenches from the assembled components are applied to the robot. In such quasi-static or static application scenarios, static stiffness becomes an essential criterion in evaluating the performance capability of the robot [7,8,9,10,11]. Hence, stiffness modeling is of significance to the comprehensive analysis of the robotic mechanism.
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Sun, T., Yang, S., Lian, B. (2020). Static Modeling and Analysis of Robotic Mechanism. In: Finite and Instantaneous Screw Theory in Robotic Mechanism. Springer Tracts in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-1944-4_8
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DOI: https://doi.org/10.1007/978-981-15-1944-4_8
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