Dynamic analysis of two-link flexible manipulator considering the link length ratio and the payload

Abstract

Dynamic modeling and analysis of flexible manipulators play an essential role in optimizing mechanical design parameters and control law of real robot systems. In this paper, a nonlinear dynamic model of a manipulator is formulated based on the Finite Element Method. To analyze the dynamic behavior effectively, a numerical simulation scheme is proposed by taking full advantages of MATLAB and SIMULINK toolboxes. In this manner, the effect of varying payload and link length ratio of the manipulator to its elastic displacement is dynamically taken into account. The simulation results show that the payload and length link ratio have significant influences on the elastic displacements of the system. In particular, a proper spectrum of the link length ratio, in which the flexural displacement of the end point of the manipulator is smallest, is demonstrated. To this end, the proposed methodology could be used further to select optimal geometric parameters for the links of new robot designs.

Electric Vehicle Battery Disassembly Using Interfacing Toolbox for Robotic Arms

“…Additionally, various toolboxes have been developed for specific purposes and platforms. These include the Matlab-based Robotics and Fuzzy Logic Toolboxes [17], the Finite Element Method for the dynamic modelling of flexible manipulators [18], and the Epipolar Geometry Toolbox (EGT) for multi-camera system visual information management [19]. Other notable contributions are Corke's toolbox for robotic manipulators [20], KUKA Sunrise Toolbox (KST) [21], the KUKA control toolbox (KCT) [6], among others like Robot Operating System (ROS) [22] and the robotics toolbox for Python [23].…”