Modeling of flexible-link manipulators with prismatic joints

Theodore, RJ; Ghosal, Ashitava

doi:10.1109/3477.558822

Cited by 35 publications

(11 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A FLM with prismatic joints was also modelled using the AMM with neglecting the shear deformation and rotary inertia effects based on Euler-Bernoulli technique as in Ref. [30].…”

Section: Assumed Mode Methodsmentioning

confidence: 99%

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

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

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.

show abstract

“…A FLM with prismatic joints was also modelled using the AMM with neglecting the shear deformation and rotary inertia effects based on Euler-Bernoulli technique as in Ref. [30].…”

Section: Assumed Mode Methodsmentioning

confidence: 99%

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

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

View full text Add to dashboard Cite

show abstract

“…The telescoping motion is also similar to motion from prismatic joints, which is modeled in [3]- [6]. However, these papers investigate deploying beams from rigid sleeves, as opposed to deployment from within another flexible beam.…”

Section: Introductionmentioning

confidence: 97%

Modeling and Control of Flexible Telescoping Manipulators

Walsh

Forbes

2015

IEEE Trans. Robot.

View full text Add to dashboard Cite

This paper considers modeling and control of a planar flexible two-link telescoping manipulator. The telescoping interface between the deploying and non-deploying portions of the links is discussed in detail. The equations of motion are derived using Lagrange's equation and constrained using a projection method that eliminates the need to compute Lagrange multipliers explicitly. Passivity-based control of the telescoping manipulator is also investigated. It is shown that several passive input-output maps exist. In particular, by a suitable redefinition of the inputs and outputs, a modified tip-based control is made possible. The model is validated through numerical simulation, and the tip-based control is compared with joint-based control. Simulation results show that tip-based control has better closed-loop performance compared with joint-based control.

show abstract

“…By means of a concept of group velocity in Ref. [7], a non-dimensional form is presented for the Euler-Bernoulli beam equation which leads to the separation of variables and the solution by using the assumed modes method. Considering the existing body of the literature, one finds that when beam length increases, the amplitude of vibrations increases which results in a destabilizing effect.…”

Section: Introductionmentioning

confidence: 99%

A constrained assumed modes method for solution of a new dynamic equation for an axially moving beam

Sharifnia

Akbarzadeh

2016

Computers & Mathematics with Applications

View full text Add to dashboard Cite

a b s t r a c tFlexible beams with prismatic joints have complicated differential equations. This complexity is mostly due to axial motion of the beam. In the present research, a horizontal flexible link sliding through a passive prismatic joint while attached to a rigid link of a robot moving in a vertical direction is considered. A body coordinate system is used which aids in obtaining a new and rather simple form of the differential equation without the loss of generality. To model the passive prismatic joint, the motion differential equation is written in a form of virtual displacement. Next, a solution method is presented for the lateral vibrations of the beam referred to as ''constrained assumed modes method''. Unlike the traditional assumed modes method, in the proposed constrained assumed modes method, the assumed mode shapes do not each satisfy the geometrical boundary conditions of the point where passive prismatic joint is located. Instead, by writing additional constraint equations the combination of the assumed modes will satisfy the geometrical boundary conditions at location of the passive prismatic joint. Two case studies for the effect of axial motion on lateral vibration of the beam are presented. Approximate analytical results are compared with FEM results.

show abstract

Modeling of flexible-link manipulators with prismatic joints

Cited by 35 publications

References 22 publications

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

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

Modeling and Control of Flexible Telescoping Manipulators

A constrained assumed modes method for solution of a new dynamic equation for an axially moving beam

Contact Info

Product

Resources

About