A procedure for the stiffness identification of parallel robots under measurement limitations

Abstract

This paper introduces a procedure to obtain reliable stiffness model for parallel robots from experimental data and identify its parameters considering measurement limitations. The efficiency of the proposed identification procedure validated via simulation and experimental studies on a 3-DOF Delta parallel robot. Simulation results showed that the proposed simplification and model reduction keeps more than 95% of entire stiffness properties (for the worst-case analysis). The experimental results proved that the obtained model on average describes 95% of compliance errors and for the worst case the error does not overcome 9.8%.

Keywords:

• Stiffness identification
• measurement limitations
• parallel robot
• nonlinear identification
• cheap devices

Disclosure statement

The authors declare that they have no known competing financial interests or personal relationship that could have appeared to influence the work reported in this paper

Additional information

Funding

This work was supported by Iran National Science Foundation [grant number: 98027470]. Also, the authors greatly appreciate the cooperation of Prof. Mehdi Tale Masouleh in conducting the experimental tests on an available Delta parallel robot at TaarLab.