To guarantee quality of the driving taper assembly the automobile, the preload stiffness should be restricted into prescriptive scope.

为了保证汽车驱动桥主锥总成装配质量，在总成装配工艺中，要保证预紧刚度在规定的数值范围内。

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The elastic model based on the stiffness equation is presented, and the stiffness model of the whole structure is constructed via the stiffness assembly and coordination equation.

提出了大行程柔性铰链基于刚度方程的弹性模型，采用刚度组集的方法并通过建立协调方程，构建得到整体系统的刚度模型。

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The experiment results of the robotic assembly shown that the robot force controller designed in this paper was robust to the variations of the contact stiffness.

装配实验结果表明，利用本文的方法所设计的机器人力控制器对接触刚度的变化具有很好的鲁棒性。

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