Research on Modeling and Detection of Flexible Deformation of Robot Linkages

With the continuous innovation of engineering technology in our country, robots are gradually developing towards lightweight and flexibility. In the process of flexible robot motion control, there are problems such as a large range of pose changes at the end of the rod and slow stability speed. This is due to excessive flexible deformation caused by the length of the rod or excessive end load, but this flexible deformation is difficult to directly detect. In response to this situation, this article proposes a flexible deformation detection method that models the relationship between strain and deformation on flexible rods, and indirectly measures deformation by detecting strain. To verify the feasibility of this method, an experimental platform was established in this paper. Strain information was obtained by detecting strain gauges on flexible rods, and the deformation at the end of the flexible rod was calculated based on the relationship between strain and deformation model established in this paper. The feasibility of this method was verified by comparing and analyzing the results with the actual measured amplitude.