Abstract
This paper presents elastodynamic modeling and analysis for a five-axis lightweight robotic arm. Natural frequencies are derived and visualized within the dexterous workspace to show the overall performances and compare them to the frequencies when the robotics is with payload. The comparison shows that the payload has a relatively small influence to the first- and second-order frequencies. Sensitivity analysis is conducted, and the system's frequency is more sensitive to the second joint stiffness than the others. Moreover, observations from the displacement response analysis reveal that the robotics produces linear elastic displacements of the same level between the loaded and unloaded working modes but larger rotational deflections under the loaded working condition. The main contribution of this work lies in that a systematic approach of elastodynamic analysis for serial robotic manipulators is formulated, where the arm gravity and external load are taken into account to investigate the dynamic behaviors of the robotic arms, i.e., frequencies, sensitivity analysis, and displacement responses, under the loaded mode.
Highlights
Lightweight robotic arms and anthropomorphic assistive robots with high payload capacity are desired for applications of industry and welfare, among other fields, such as assisted daily living[1,2,3], pick-and-place operations[4], etc
The main contribution of this work lies in that a systematic approach of elastodynamic analysis for serial robotic manipulators is formulated, where the arm gravity and external load are taken into account to investigate the dynamic behaviors of the robotic arms, i.e., frequencies, sensitivity analysis, and displacement responses, under the loaded mode
With the payload 5 kg applied to the end-effector of the robotic arm, they constitute a new dynamic system and the solved frequencies with constant-orientation [0, π/2, 0] are illustrated in Figure 7, from which it is observed that the frequencies of the loaded robotic system decrease about 20% compared to Figure 5
Summary
Lightweight robotic arms and anthropomorphic assistive robots with high payload capacity are desired for applications of industry and welfare, among other fields, such as assisted daily living[1,2,3], pick-and-place operations[4], etc. Pashkevich et al.[30] overcame this issue by introducing a full-mobility lumpedparameter model by localizing 6-dof virtual springs to the links’ ends and/or joints In these models, the stiffness matrix is calculated in an unloaded equilibrium configuration of a robotic manipulator. Based on the matrix structural analysis, Cammarata et al.[9,34] proposed an algorithm to assemble the stiffness matrix to investigate the manipulators with lower kinematic pairs In this manner, the overall robotic manipulator inparallel architecture can be split into substructures for modeling the elastodynamics[35]. The main contribution of this work lies in that a systematic approach of elastodynamic analysis for serial robotic manipulators is formulated, where the arm gravity and external load are taken into account to investigate the dynamic behaviors of the robotic arms, i.e., frequencies, sensitivity analysis, and displacement responses, under the loaded mode
Sign-in/Register to view highlights & summary 
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call