Dynamic modelling of a two-link flexible manipulator system incorporating payload

Ahmad, Mohd Ashraf; Mohamed, Zulkifli; Hambali, Najidah

doi:10.1109/iciea.2008.4582487

Cited by 23 publications

(15 citation statements)

References 12 publications

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“…Noted that each element of inertial mass matrix M 2k can be computed similarly (6). With the stiffness matrix K 2k computed as in [15], the elastic potential energy of element k is written as…”

Section: Finite Element Modelmentioning

confidence: 99%

“…(36) There are many researchers focused on dynamic behaviors under variation of payload [4][5][6]. However, the effects of structural geometry on dynamic behavior of manipulator have not been clearly considered.…”

Section: N 2 + 6) (30)mentioning

confidence: 99%

“…Gee and Lee [5] discussed the modeling and nonlinear dynamic equations of a one-flexible link manipulator based on finite element method in Lagrange approach with varied payload. The effects of payload on the dynamic characteristic of a planar two-link flexible manipulator with the Assumed Modes Method (AMM) are studied and discussed in [6]. Reddy [7] presented the nonlinear modeling of a one-link flexible manipulator based on AMM and LS-DYNA.…”

Section: Introductionmentioning

confidence: 99%

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

Bien

Khôi

2017

Vietnam J. Mech.

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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.

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Section: Finite Element Modelmentioning

confidence: 99%

Section: N 2 + 6) (30)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Bien

Khôi

2017

Vietnam J. Mech.

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“…GOULIAEV and ZAVRAZHINA [5−6] have done some work on the dynamics of robot manipulators with flexible links. AHMAD et al [7] have established the dynamic model of a two-link flexible manipulator system incorporating payload.…”

Section: Introductionmentioning

confidence: 99%

Extremum response surface method of reliability analysis on two-link flexible robot manipulator

Zhang

Bai

2012

J. Cent. South Univ. Technol.

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In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator, Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method. By using the Monte Carlo method, the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement, speed and acceleration. On this basis, dynamic stresses and deformations were obtained. By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities, extremum response surface functions were established. A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method. The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.

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“…Dogan and Istefanopulos [2] have developed the finite element models to describe the deflection of a planar two-link flexible robot manipulator. The AMM have been utilised to derive a dynamic model of multilink flexible robot arms limiting to the case of planar manipulators with no torsional effects [3,4]. A systematic approach for deriving the dynamic equations for n-link manipulator where two-homogenous transformation matrices are used to describe the rigid and flexible motions respectively has been presented by [5].…”

Section: Introductionmentioning

confidence: 99%

NN robust based-PID Control of A Two-Link Flexible Robot Manipulator

Khairudin¹,

Sudiyatno²,

Arifin³

2012

International Journal on Advanced Science, Engineering and Information Technology

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This paper presents control of a two-link flexible robot manipulator. A planar two-link flexible manipulator that moves in the horizontal plane is considered. A dynamic model of the system is developed using an assumed mode methods. The NN robust based-PID controller is used to reduce a nonlinearities problem that can be efficiently solved. The system responses namely hub angular position, deflection and end-point acceleration responses at both links are obtained and analysed.

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Dynamic modelling of a two-link flexible manipulator system incorporating payload

Cited by 23 publications

References 12 publications

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

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

Extremum response surface method of reliability analysis on two-link flexible robot manipulator

NN robust based-PID Control of A Two-Link Flexible Robot Manipulator

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