Abstract
Robot elastic links are modelled as superelements. This modelling is adapted to the measuring of robot elastic features in situ. Open- and closed-loop linkages are examined. In closed-loop mechanisms, the beam-links and the rod-links are defined; the superelements modelling beam-link has three nodal points and eleven nodal values. In open-loop linkages, all the links are beam-links and are modelled as superelements with two nodal points and twelve nodal values. The rigid-body degrees of freedom are separated and the rigid-body transfer matrix is calculated. This separation leads to the displacements which represent the elastic deformation of the link, and makes it possible to calculate its flexibility matrix from the displacements measured at the nodal points.
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