Abstract
The coupled three-link planar manipulator mechanism is widely adopted in panel handling robots for the realization of straight-line translational motion of the end-effector with a single actuator and three belt-drive systems. This research analyzes and models the complex dynamics of the coupled three-link planar manipulator including the flexible belt systems. Equations of the motion of the manipulator are derived mathematically by using Lagrange method and the coupling constraints between the links are modeled and appropriately represented in the mathematical model. Also, joint friction is modeled with static, Coulomb and viscous models. Using the mathematical model a numerical simulation program is developed. The system parameters, including joint friction and belt damping, for the highly nonlinear model are estimated using the genetic algorithm that is one of the global optimization techniques. The validity of the simulation model is verified by comparing the simulation results with the experimental results.
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