Dynamic analysis of flexible parallel robots via enhanced co-rotational and rigid finite element formulations

Kermanian, Ali; Kamali, E Ali; Taghvaeipour, Afshin

doi:10.1016/j.mechmachtheory.2019.04.010

Cited by 25 publications

(13 citation statements)

References 38 publications

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“…A detailed comparison of the proposed method with the previously used methods is presented in Table 1. The proposed method The conventional methods It can be seen from Table 1 that, in the previous methods [1,29,36], each elemental mass matrix is usually computed and implicitly expressed in terms of nodal elastic deformations of a link because the symbolic integral of the element kinetic energy is employed. Not all the moment of inertia of an element and a link are included in the formulation.…”

Section: Discussionmentioning

confidence: 99%

“…In addition, there have also been some different finite element approaches which were developed for the dynamic modelling of Flexible Multibody Systems, such as the Floating Frame of Reference (FFR) formulation [28][29][30][31][32][33][34], the Absolute Nodal Coordinate Formulation (ANCF) [35,[44][45][46], the Co-Rotational Finite Element Method (CRFEM) [37][38][39][40][41][42], and the Rigid Finite Element Method (RFEM) [36,43]. A comprehensive review about these approaches was presented in [36]. In FFR formulations, two sets of coordinate systems are usually employed where one set characterizes the location and orientation of the bodies, while the other one describes the elastic deformation of the bodies [28][29][30][31][32][33][34].…”

Section: Introductionmentioning

confidence: 99%

“…In CRFEM method [37][38][39][40][41][42], a moving frame, the so called corotated frame, is attached to each element of a body in order to define the elastic deformation of the corresponding element. As for RFEM method [36,43], each body is divided into rigid finite elements, and all the elements are connected with each other via springs and dampers.…”

Section: Introductionmentioning

confidence: 99%

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A novel mathematical approach for finite element formulation of flexible robot dynamics

Định

Duong

et al. 2020

Mechanics Based Design of Structures and Machines

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In conventional Finite Element -Lagrangian methods, the dynamics model of a flexible robot is usually formulated based on a critical assumption that the kinetic energy of an element is approximately calculated with an integral of mass point energy. Since the energy integral is implicit, the formulation of the dynamics model is also very complex and implicit. Hence, this paper develops a new mathematical approach for the dynamic modelling of a general flexible/rigid robot. The proposed method is more comprehensive and efficient in comparison with the previous ones because it no longer requires the calculation of the symbolic integrals and the implicit expressions of the elemental and global mass matrices.Besides, the proposed approach is applicable for both the flexible robots and the hybrid flexible/rigid robots. To validate the proposed method, numerical simulations and experimental results are presented.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A novel mathematical approach for finite element formulation of flexible robot dynamics

Định

Duong

et al. 2020

Mechanics Based Design of Structures and Machines

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“…We designed a rigid connecting plate with the same-sized radius and thickness via 3D printing, and the relevant parameters and simulation conditions of the rigid and flexible connection plates required for the test are provided in Table 1. Based on the finite element method, we used software to simulate and then to verify the detailed stress effect on the movement [30,31]. Figure 7 shows the stress distribution of the two connecting plates.…”

Section: Structural Analysismentioning

confidence: 99%

Flexible Design of the Connecting Plate in Pneumatic Soft Manipulators

Dong

Yang²,

Li³

et al. 2022

Applied Sciences

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This paper presents a novel connecting plate for achieving a flexible connection in a soft manipulator. The main material used in the connecting plate is silicone, which functions similarly to the bionic oblique muscle (BOM) of an octopus arm and takes over the two actuator segments. Each segment of the actuator consists of three chambers, and the chambers are assembled with the connecting plate via bolts and loops to be a manipulator. By using a flexible plate instead of a rigid one, the manipulator achieves more dexterous movements. This paper establishes a nonlinear model for analyzing the shear and compression deformation of a silicone connecting plate. Additionally, finite element method was used to analyze the mechanical performance of the connecting plate. The deformation of a soft material can reduce the stress concentration during movement of the manipulator. Therefore, in the experiment, the BOM exhibited better motion performance compared with the rigid connection plate.

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“…Clavel was presented with the Golden Robot Award, sponsored by ABB Flexible Automation, for his innovative work on the Delta parallel robot. Ali Kermanian described extensive details on the characteristics and architectures of the parallel mechanisms [6]. The Parallel Delta Robot is very demanded by many industries/factories to satisfy the customers' needs.…”

Section: Introductionmentioning

confidence: 99%

Modelling and Simulation of a 3DOF End Effector for Material Handling with a Delta Robot

Musa

2022

J. Phys.: Conf. Ser.

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In order to improve workspace and material handling system of the delta robot, This paper describes a design of an End-effector with 3 degrees of freedom (3DOF) which makes the End-effector more flexible and having sufficient range of working space. This End-effector will be mounted on a delta parallel robot to perform the desired task in handling materials accordingly. The robot is able to pick and place a given material to the right place and positioning as it is desired by the user. The methodology used to design this robot was based on 3 major components which are: Sliding rails which deals with translational motion along horizontal axis, this motion carries the whole system from side to side and is going to play a role of increasing workspace in either assembling line or picking and placing system. Delta robot is in charge of manipulating its end effector in 3 dimensions along (x, y, z - axis) according to the object tracking localization as a human’s arm manipulate the hand. The end effector’s purpose is to perform rotational motion then pick the object and place as the system requires, this performance has advantage of handling materials and positioning respectively. It showed that the proposed system is safe and is feasible for application. The proposed material handling system can minimize the disadvantages of utilizing a delta robot by attachment of the presented end-effector to the delta robot.

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Dynamic analysis of flexible parallel robots via enhanced co-rotational and rigid finite element formulations

Cited by 25 publications

References 38 publications

A novel mathematical approach for finite element formulation of flexible robot dynamics

A novel mathematical approach for finite element formulation of flexible robot dynamics

Flexible Design of the Connecting Plate in Pneumatic Soft Manipulators

Modelling and Simulation of a 3DOF End Effector for Material Handling with a Delta Robot

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