Abstract
In this work, finite element method based on Lagrangian formulation is used for obtaining the equations of motion of the double link flexible revolute-jointed robotic manipulator. Both the links are considered as Euler-Bernoulli beams. A parametric study is carried out for the double link flexible robotic manipulator through linear modeling technique. A comparative study for dynamic response is carried out for the uniform beam manipulators under various types of excitations.
Highlights
IntroductionLinks are rigid giving small static deflection and it is possible to obtain high positional accuracy
In conventional robotic system, links are rigid giving small static deflection and it is possible to obtain high positional accuracy
Flexible link manipulators are a subject of intensive research
Summary
Links are rigid giving small static deflection and it is possible to obtain high positional accuracy. Yigit (1994) modeled a two-link rigid-flexible manipulator and derived the equations of motion by applying the Hamilton’s principle. Zhang and Bai (2012) established Lagrangian dynamic equations of two-link flexible manipulator through integrated model and multi body dynamics method. Wang (1994) addressed optimum design of a single link manipulator to maximize its fundamental frequency He formulated the design problem as a nonlinear eigenvalue problem and used variational method. In the present work a linearized model for small rigid body motion and small flexural deflection is used. Based on this model, complete parametric study is done to predict the dynamic behaviour of the system due to the variation of various design parameters. Body fixed to the system of co-ordinate attached in link[2] ratio of length of second link to that of first link ratio of hub mass to the total mass of the links ratio of payload to the total mass of the links specific densities applied torques at hub and link joint respectively
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