Abstract
In this paper, four different shapes of robots' hollow arm are suggested so as to investigate the effect of shape on the dynamic behavior of the arm. The finite element method is used to determine the strength of the arms and their equations of motion. The static deflection, stress and moment of inertia are calculated and compared as well as the angular displacement and tip vibration of the four different shapes. A PD controller with fuzzy logic is used for tracing the desired trajectory and reducing the overshoot of the system. All simulations were presented using MATLAB and SIMULINK on the arms under the same desired step trajectory for a time of two seconds. The preferred robot arm is the one that has less vibration in trajectory and after reaching the target. As a result, the tapered arm (shape B) shows better characteristics in which less deflection, stress and tracking. Key Words : Robot arm, Finite element, Flexible link, Fuzzy controller.
Highlights
Robotic manipulation tasks are becoming more demanding as the potential for such manipulators to complete these tasks is realized
Various approaches have been developed previously for modeling of flexible manipulators. These can be divided into two main categories: the assumed modes method (AMM) and the numerical analysis approach
It has been reported that in using the finite element (FE) method, a single element is sufficient to describe the dynamic behavior of a flexible manipulator reasonably well
Summary
Robotic manipulation tasks are becoming more demanding as the potential for such manipulators to complete these tasks is realized. Industrial robot manipulators of high accuracy require complicated methods of control. Various approaches have been developed previously for modeling of flexible manipulators. These can be divided into two main categories: the assumed modes method (AMM) and the numerical analysis approach. Using the assumed modes approach, a control method at terminal stage of movement has been developed and engaged with PID in [4]. The performance of the FE technique in modeling of flexible manipulators has previously been investigated [5]. In the control of flexible link robot manipulator, a variety of control techniques are popular, such as PID control, computed torque control, adaptive control etc. The finite element method is used to discretize the equations of motion and to model the different shapes of robot’s arm.
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