Incorporation of Joint Flexibility With Link Flexibility: Dynamic Modeling and Analysis

1995 ◽  
Author(s):  
Degao Li ◽  
Jean W. Zu ◽  
Andrew A. Goldenberg
Keyword(s):  
Dynamic Modeling ◽  
Mode Analysis ◽  
Mode Shapes ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Flexible Joint ◽  
Joint Flexibility ◽  
Modeling And Analysis ◽  
Assumed Mode Method ◽  
Link Flexibility

Abstract Flexible robots with both link flexibility and joint flexibility have received increasing attention recently. In modeling the flexible robots with the assumed mode method, the model accuracy is highly dependent on the mode shapes of the link deflection. For flexible-link, flexible-joint robots, conventionally used clamped-free or pinned-free modes may cause large errors. To address this problem, this paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained. The following important conclusions are obtained: (1) Even a small joint flexibility can significantly affect the system frequencies; (2) The fundamental frequency is sensitive to the change in the payload and is not sensitive to the change in the hub inertia.

Dynamic modeling and mode analysis of flexible-link, flexible-joint robots

1998 ◽  
Vol 33 (7) ◽  
pp. 1031-1044 ◽  
Author(s):  
Degao Li ◽  
Jean W. Zu ◽  
Andrew A. Goldenberg
Keyword(s):  
Dynamic Modeling ◽  
Mode Analysis ◽  
Flexible Link ◽  
Flexible Joint ◽  
Flexible Joint Robots

Resonance Analysis of Manipulators with Flexible Link and Flexible Joint

2011 ◽  
Vol 383-390 ◽  
pp. 2868-2874
Author(s):  
Zhi Hui Gao ◽  
Yu Shu Bian
Keyword(s):  
Motion Planning ◽  
Structure Design ◽  
Flexible Manipulator ◽  
Dynamic Equations ◽  
Flexible Link ◽  
Flexible Joint ◽  
Joint Flexibility ◽  
Resonance Analysis ◽  
Link Flexibility ◽  
Main Factors

Worse than common vibration, resonance is a form of severe vibration. It is very important and useful to know what factors and conditions can result in resonance of flexible manipulators, when both link flexibility and joint flexibility are taken into account. In this paper, resonance analysis of the flexible manipulator with both link flexibility and joint flexibility is studied. Based on the flexible dynamic equations, main factors resulting in resonance of the flexible manipulator are analyzed. Furthermore, several conditions exciting resonance are derived and verified with numerical simulations. These conclusions are helpful to predict resonance and useful to the structure design and motion planning for a flexible manipulator to evade resonance

scholarly journals New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142094334
Author(s):  
Chu A My ◽  
Duong X Bien
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Bisection Method ◽  
Flexible Robot ◽  
Inverse Dynamic ◽  
Flexible Robots ◽  
Prismatic Joint ◽  
Inverse Dynamic Analysis ◽  
New Development ◽  
Prismatic Joints

When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a prismatic joint and a revolute joint. Moreover, a new bisection method-based algorithm is proposed to analyze the inverse dynamic responses of the flexible robots. Since the bisection method is a rapid converging method in mathematics, the proposed algorithm is effectively applicable to solving the inverse dynamic problem of a flexible robot in a robust manner. Last, the numerical simulation results show the effectiveness and the robustness of the proposed method.

Dynamic Modeling and Analysis of a Mobile Flexible Robot Arm

2018 ◽  
Author(s):  
Wei Chen ◽  
Lipu Wei ◽  
Xiuping Yang ◽  
Jinjin Guo ◽  
Xizheng Zhang ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Robot Manipulators ◽  
Research Work ◽  
Mobile Manipulator ◽  
Robot Arm ◽  
Flexible Robot ◽  
Modeling And Analysis ◽  
And Control ◽  
Mobile Robot Manipulators

Considerable research attentions have recently been paid toward a mobile manipulator (a robot arm standing on a mobile platform) due to its extended workspace beyond the manipulator reach. Mobile manipulators have a wide range of potential applications where it is desirable to achieve higher degree of flexibility in transport and handling task. However, a vast number of research publications only focus on trajectory planning. This preliminary research work presents dynamic modeling and analysis of a mobile flexible robot arm with aims to provide insights for the design and control of such mobile robot manipulators. In this work, the dynamic model is developed using a computationally efficient method: Discrete Time Transfer Matrix Method (DT-TMM). The concepts and principle of DT-TMM are briefly overviewed, and then are applied to a mobile flexible robot arm for dynamic modeling with the detailed procedure. Numerical simulations and dynamic analyses are performed to illustrate the effectiveness of the proposed dynamic modeling method, and to provide the clues for our ongoing research work in the design and control of mobile robot manipulators.

Investigation and Comparison of Possible Boundary Conditions and System Vibration Modes in Two-Link Flexible Manipulators

2001 ◽  
Author(s):  
Joono Cheong ◽  
Youngil Youm ◽  
Wan Kyun Chung
Keyword(s):  
Boundary Conditions ◽  
Mode Shapes ◽  
Natural Mode ◽  
Vibration Modes ◽  
Flexible Robot ◽  
Assumed Mode Method ◽  
Mode Method ◽  
Robot Systems ◽  
Comparative Concept ◽  
System Vibration

Abstract In the slewing multi-link flexible robot systems, the natural frequencies and mode shapes have been determined using the assumed component mode method with clamped-joint condition, in which the system modes is reconstructed by the series of assumed modes of each link. This method, however, requires large number of assumed modes to accurately describe the system and even more, sometimes, the results are erroneous. The direct analytic solution of entire system vibration mode which is a comparative concept of assumed mode method can accurately account for the entire vibration with a few number of significant modes. This paper deals with system vibration modes of two-link flexible robot and their appropriate boundary conditions. There are four possible set of boundary conditions, that is, clamped-clamped, clamped-spring, spring-clamped, spring-spring, according to joint servo condition, and we compare mode shapes and modal frequencies of each case by numerical and experimental results. We also provide important characteristics of natural mode when imposed certain kind of boundary conditions.

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