Hostname: page-component-848d4c4894-wzw2p Total loading time: 0 Render date: 2024-05-21T01:35:28.699Z Has data issue: false hasContentIssue false
  • English
  • Français

A Variational Approach for Modeling Flexibility Effects in Manipulator Arms

Published online by Cambridge University Press:  09 March 2009

Ali Meghdari
Ali Meghdari
Affiliation:
Sharif University of Technology, Department of Mechanical Engineering, Tehran (Islamic Republic of Iran)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a general technique to model flexible components (mainly links and joints flexibilities are considered) of manipulator arms based on Castigliano's theorem of least work. The robotic arms flexibility properties are derived and represented by the matrix of compliance coefficients. Such expressions can be used to determine the errors due to the robotic tip deformations under the application of a set of applied loads at the tip in a Cartesian space. Once these deformations are computed, they may be used to correct for the positional errors arisen from the robotic structural deformations in the motion control algorithms.

Keywords

ModelingFlexibility effectsRobotsArmsDeformations
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 213 - 217
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Book, W.J., “Modeling, Design and Control of Flexible Manipulator Arms” Ph.D. Dissertation (Department of Mechanical Engineering, MIT, 1974).Google Scholar
2.Book, W.J., “Analysis of Massless Elastic Chains with Servo-controlled Joints”, J. Dynamic Systems, Measurement and Control, 101, No. 3, 187–192 (1977).Google Scholar
3.Book, W.J., “Recursive Lagrangian Dynamics of Flexible Manipulator Arms” Int. J. Robot. Res. 3, No. 3, 87–101 (1984).CrossRefGoogle Scholar
4.Hughes, P.C., “Dynamics of a Flexible Arm for the Space Shuttle” AAS/AIAA Astrodynamics Conference, Jackson Lake Lodge, Wyoming, (09, 1977).Google Scholar
5.Cannon, R.H. and Schmitz, E., “Initial Experiments on the End-point Control of a Flexible One-Link Robot” Int. J. Robot. Res. 3, No. 3, 62–75 (1984).Google Scholar
6.Naganathan, G. and Soni, A.H., “Coupling Effects of Kinematics and Flexibilities in Manipulators” Int. J. Robot. Res. 6, No. 1, 75–84 (1987).CrossRefGoogle Scholar
7.Sunada, W.H., “Dynamic Analysis of Flexible Spatial Mechanisms and Robotic Manipulators” Ph.D. Dissertation (Department of Mechanical Engineering, UCLA, 1981).Google Scholar
8.Bayo, E., Movaghar, R. and Medus, M., “Inverse Dynamics of a Single-Link Flexible Robot Analytical and Experimental Results” Int. J. Robotics & Automation 3, No. 3, 150–157 (1988).Google Scholar
9.Shahinpoor, M. and Meghdari, A., “Combined Flexural-Joint Stiffness Matrix and the Elastic Deformation of a Servo-Controlled Two-Link Robot Manipulator” Robotica 4, No. 4, 237–242 (1986).CrossRefGoogle Scholar
10.Meghdari, A. and Shahinpoor, M., “Elastic Deformation Characteristics of a PUMA-560 Robot Manipulator” Int. J. Robotics & Automation, 2, No. 1, 26–31 (1987).Google Scholar
11.Meghdari, A. and Shahinpoor, M., “Three-dimensional Flexural-Joint Stiffness Analysis of Flexible Manipulator Arms” Robotica 6, No. 3, 203–212 (1988).Google Scholar
12.Meghdari, A. and Shahinpoor, M., “Generalized Kinematical Analysis of N-Axis Flexible Manipulator Arms via 4 X 4 Homogeneous Transformations” Proceedings of the ANS Third Topical Meeting on Robotics and Remote Systems 11–5, 1–8, Charleston, S.C. (02, 1989).Google Scholar
13.Meghdari, A., “Elastic deformation Characteristics and Constitutive Equations of Light Weight Flexible Robot Manipulators” Ph.D. Dissertation (Department of Mechanical Engineering, The University of New Mexico, Albuquerque, N.M., 1987).Google Scholar
14.Langhaar, H.L., Energy Methods in Applied Mechanics (John Wiley & Sons, New York, 1962).Google Scholar
15.Ju, F.D., “On the Constraints for Castigliano's Theorem” J. Franklin Institute 292, No. 4, 257–264 (10, 1972).CrossRefGoogle Scholar
16.Meghdari, A., “Elastic Manipulators Actuated by Pneumatic Muscles” (to appear in the Proceedings of the IASTED Int. Conference in Control, Modeling and Simulation, Tehran, Iran, 07, 1990). pp. 484–487.Google Scholar