Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots

Vidoni, Renato; Gasparetto, Alessandro; Giovagnoni, Marco

doi:10.1016/j.rcim.2012.07.008

Cited by 27 publications

(23 citation statements)

References 30 publications

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“…This means that, as highlighted in previous works, e.g. Vidoni et al (2013), the kinematic equations of the ERLS are decoupled from the compatibility equations of the displacement at the joints. 3.…”

Section: Differences Between the Erls And The Ffr Formulationsmentioning

confidence: 94%

Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach

Vidoni

Gallina

Boscariol

et al. 2015

Journal of Vibration and Control

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In this paper, a novel formulation for modeling the vibration of spatial flexible mechanisms and robots is introduced. The formulation is based on the concepts of equivalent rigid-link system (ERLS) that allows kinematic equations of motion for the ERLS decoupled from the compatibility equations of the displacement at the joint to be written. With respect to the available literature, in which the ERLS concept has been proposed together with a finite element method (FEM) approach (ERLS-FEM), the formulation is extended in this paper through a modal approach and, in particular, a component mode synthesis technique which allows a reduced-order system of dynamic equations to be maintained even when a fine discretization is needed. The model is validated numerically by comparing it with the results obtained from the Adams-Flex™ software, which implements the well-known floating frame of reference approach for a benchmark L-shaped mechanism. A good agreement between the two models is shown

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Section: Differences Between the Erls And The Ffr Formulationsmentioning

confidence: 94%

Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach

Vidoni

Gallina

Boscariol

et al. 2015

Journal of Vibration and Control

Self Cite

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“…The approach used for the modelling of deformable mechanisms with large displacements and small elastic deformation is based on Equivalent Rigid Link System (ERLS) concept; such model has been introduced and validated for a flexible mechanism in 3D environment by Vidoni in [13]. In this section, this approach is briefly recalled.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…By solving the system Equation (6), accelerations can be computed and by means of an appropriate integration scheme, velocities and displacements can be obtained [13].…”

Section: Dynamic Modelmentioning

confidence: 99%

“…Consequently, the main objective is to allow the tip of the mechanism to safely contact objects in an uncertain environment. In this work, the Equivalent Rigid Link System (ERLS) approach was used for dynamic modelling of the flexible link mechanism in 3D environment [13].The main advantages of the ERLS approach is that the standard concepts of 3D kinematics can be taken to formulate and solve the ERLS kinematics, e.g. Denavit-Hartenberg convention.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid position/force control of a spatial compliant mechanism

Barjuei¹

2022

Int. J. Automot. Mech. Eng.

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This paper provides a hybrid position/force control design for a flexible L-shape mechanism in a three dimensional (3D) environment. The analytical mechanism model was developed with a highly accurate dynamic system based on equivalent rigid link system theory and finite element discretisation without the need for any dedicated force/torque sensors. The gravity force and dynamic model nonlinear parameters were taken into account. This paper also presents and describes a real-time approach based on a comparison between joint acceleration and the time evolution of a simplified rigid mechanism model for estimating external forces applied on the tip of the mechanism. The most significant simulation results are presented and discussed; in particular, position controller has a high accuracy in terms of trajectory tracking with max error of 2.6 degree.

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“…These models, typically synthesized through finite elements (FE) or experimental modal analysis, are often very bulky and require considerable computational efforts, which can prevent their use in simulation [1] and real-time control [2]. Additionally, large dimensional models are often numerically ill conditioned and therefore they cannot be effectively exploited for design optimization (e.g.…”

Section: Introductionmentioning

confidence: 99%

Mode selection for reduced order modeling of mechanical systems excited at resonance

Palomba

Richiedei

Trevisani

2016

International Journal of Mechanical Sciences

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Design and implementation of an ERLS-based 3-D dynamic formulation for flexible-link robots

Cited by 27 publications

References 30 publications

Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach

Modeling the vibration of spatial flexible mechanisms through an equivalent rigid-link system/component mode synthesis approach

Hybrid position/force control of a spatial compliant mechanism

Mode selection for reduced order modeling of mechanical systems excited at resonance

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