Abstract
Inverse dynamic problem analyzing of flexible link robot with translational and rotational joints is presented in this work. The new model is developed from single flexible link manipulator with only rotational joint. The dynamic equations are built by using finite element method and Lagrange approach. The approximate force of translational joint and torque of rotational joint are found based on rigid model. The simulation results show the values of driving forces at joints of flexible robot with desire path and errors of joint variables between flexible and rigid models. Elastic displacements of end-effector are shown, respectively. There are remaining issues which need be studied further in future work because the error joints variables in algorithm to solve inverse dynamic problem of flexible with translational joint has not been mentioned yet.
Highlights
Dynamic analysis of mechanisms, especially robots, is very important
Simulation results for inverse dynamic of flexible robot with translational and rotational joints are shown from Fig 7 to Fig 16
Nonlinear dynamic modeling and equations of motion of flexible manipulators with translational and rotational joints are built by using finite element method and Lagrange approach
Summary
Especially robots, is very important. The dynamic equations of motion represent the behavior of system, so accurate modeling and equations are essential to successfully design of the control system. Eliodoro and Miguel [3] propose a new method based on the finite difference approach to discretize the time variable for solving the inverse dynamics of the robot. By using either the finite element method (FEM) or AMM, some other authors consider the dynamic modeling and analysis of the flexible robots with translational joint [4-8]. Al-Bedoor and Khulief [5] presented a general dynamic model for R-P robot based on FEM and Lagrange approach They defined a concept which is translational element. Korayem [7] presented a systematic algorithm capable of deriving equations of motion of N-flexible link manipulators with revolute-prismatic joints by using recursive Gibbs-Appell formulation and AMM. The inverse dynamics modeling and analysis of the generalized flexible robot constructed with translational joint has not been much mentioned yet. The force and torque of joints can be found in such a way that the end point of link 2 can track the desire path even though link 2 is deformed
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