Since the beginning of realizing complex machines, the need for analytical descriptions of the kinematic structure is present as it is necessary to calculate the forces and torques within the mechanism and the position of the structure or the corresponding actuator positions. Furthermore, the calculation of the mechanical stress and deformation affecting the structure has to be analyzed in order to ensure the error-free operation.
While the kinematic description is used in the design and operation phase of robots, the mechanical stress and deformation within the structure of a robot is mostly not taken into account during the operation phase. The reason therefore is the computational complexity of these calculations or the disproportionately high effort to calibrate the robot.
This presentation will give an overview about existing techniques to describe the mechanical deformations of a robotic structure. Beside the state of the art a potiental concept on how to calculate the mechanical deformation in real time will be presented.