Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

Esfandiar, Habib; Korayem, M. H.

doi:10.1007/s12206-015-0842-2

Cited by 14 publications

(6 citation statements)

References 19 publications

(19 reference statements)

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“…23, 24, 25, 26, 27 and 28. The natural frequencies and the general nature of response level matches with the predictions by Habib and Korayem [53].…”

Section: Appendixsupporting

confidence: 82%

“…23) Square wave of amplitude 0.5 Nm and time-period 1 s Joint 2 torque (Fig. 24) Square [53] In Eq. (26), J 1 and J 2 are the polar moment of inertias of Link-1 and Link-2 respectively.…”

Section: Appendixmentioning

confidence: 99%

“…Some typical simulation results based on the mathematical model described above is presented below. Table 7 describes the physical and simulation parameters used for a Two-Link Flexible manipulator used by Habib and Korayem [53].…”

Section: Appendixmentioning

confidence: 99%

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Hybrid vibration control of a Two-Link Flexible manipulator

Mishra

Singh

2019

SN Appl. Sci.

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This research work deals with tip vibration control of a Two-Link Flexible manipulator using hybrid control technique. This technique involves the implementation of unconstrained viscoelastic damping layer on the links in conjunction with active damping using piezoelectric sensors and actuators. Mathematical modelling of the complete system is done using the finite element approach in the inertial frame. Viscoelastic damping is modelled using Kelvin-Voigt elements for which a damping matrix is derived. Active damping is modelled as time-dependent uniformly distributed load applied by the piezoelectric actuator on the flexible link working under feedback control. The angular and linear velocities of the tips of flexible links are used for direct feedback. The unconstrained viscoelastic damping layer effectively reduces the vibrations of the system. The effectiveness of the active control depends upon the relative position of sensors and actuators on the links. The novelty of the work lies in control of torsional and flexural vibrations through the application of passive and active damping methods to the non-inertial frames represented by the manipulator links.

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“…23, 24, 25, 26, 27 and 28. The natural frequencies and the general nature of response level matches with the predictions by Habib and Korayem [53].…”

Section: Appendixsupporting

confidence: 82%

“…23) Square wave of amplitude 0.5 Nm and time-period 1 s Joint 2 torque (Fig. 24) Square [53] In Eq. (26), J 1 and J 2 are the polar moment of inertias of Link-1 and Link-2 respectively.…”

Section: Appendixmentioning

confidence: 99%

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Hybrid vibration control of a Two-Link Flexible manipulator

Mishra

Singh

2019

SN Appl. Sci.

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“…The FEM was used in developing a nonlinear dynamic model of a planar two-FLM by utilizing Timoshenko beam theory concepts with considering shear stress as reported in Ref. [36], and the dynamic model was validated via simulation and experimental work and demonstrated reliable performance for carrying loads. A state-space model was derived for a single-FLM with a payload in Ref.…”

Section: Finite Element Methodsmentioning

confidence: 99%

A critical review of modelling methods for flexible and rigid link manipulators

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

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Mathematical modelling plays an important role for robotic manipulators in order to design their particular controllers. Also, it is hard challenge to obtain an accurate mathematical model or obtain a suitable modelling method in such vast field. Thus, this critical review is advantageous and indispensable for researchers who are interested in the area to gain fruitful knowledge on the mathematical modelling methods. This paper is classified based on the type of robotic manipulators such as flexible link manipulators (FLMs), rigid link manipulators (RLMs) and hybrid manipulators which involves rigid links and flexible links. The used modelling methods for FLMs are the assumed mode method, the finite element method, and the lumped parameter method as approximation techniques which are well explained and reviewed. The Lagrangian method has inclusive explanation and review which is widely participated for obtaining the dynamic equations of FLMs, and it is appropriate and commonly employed for modelling RLMs. The Newtonian method, the forward kinematic, and the inverse kinematic are also well discussed and reviewed which are suitable and commonly employed for modelling RLMs. The critical discussion of 170 articles reported in this paper guides researchers to select the suitable method for modelling. This paper reviews the published articles in the period of 2010-2020 except for few older articles for the need of providing essential theoretical knowledge. The advantages and disadvantages of each method are well summarized at the end of the paper. The intelligent identification methods are briefly discussed due to the lack of publications especially on the period of 2010-2020.

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“…Flexible manipulators can find many applications started from space applications (Gouliaev and Zavrazhina, 2001) as employing flexible manipulators needs deformation embodiment owing to the flexibility and the slenderness of the links. The high payload to weight ratio is not the only merit of using flexible manipulators in space application (Esfandiar et al, 2017). It was noted that the benefits of fast response, low weight, small actuators, and low energy consumption were considered in different applications.…”

Section: Introductionmentioning

confidence: 99%

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

Feyzollahzadeh

Bamdad

2022

Journal of Vibration and Control

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In the flexible manipulators, the links could be modeled using rigid elements and torsional springs, and similarly, the flexibility in actuators could be represented with the equivalent springs. This study applies the discrete time transfer matrix method for the dynamic analysis of flexible manipulators with large deformations. On a first-priority basis, transfer matrices are determined, including all the flexible link/joint mechanism components. A single transfer matrix is established for prismatic and rotational actuators with equivalent springs to build the robotic transfer matrix library. On the second priority, to reduce the computation time, a novel algorithm is developed. In the proposed flexible link discretization, the first element of the flexible link is considered as a function of other elements. It is designed to build a mathematical model as closely as possible to the realistic model with fewer elements. It is presented that this modeling technique can employ discrete data extracted by the sensors. The simulation primarily focuses on developing flexible beam/joint models validated in ADAMS. Besides, the dynamic behavior of a flexible PR robot with external forces acting on the linkage system is analyzed and examined. The result shows that the proposed modeling method affords a low computational time while the manipulator control needs to manage fast responses.

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Accurate nonlinear modeling for flexible manipulators using mixed finite element formulation in order to obtain maximum allowable load

Cited by 14 publications

References 19 publications

Hybrid vibration control of a Two-Link Flexible manipulator

Hybrid vibration control of a Two-Link Flexible manipulator

A critical review of modelling methods for flexible and rigid link manipulators

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

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