Nonlinear dynamic analysis for elastic robotic arms

Korayem, M. H.; Rahimi, Hamed

doi:10.1007/s11465-011-0218-y

Cited by 7 publications

(6 citation statements)

References 34 publications

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“…Moreover, the AMM has various ways to select the link boundary conditions and selecting appropriate boundary conditions is very important as the conditions influence the system results as reported in Ref. [32]. Also, the authors in Ref.…”

Section: Assumed Mode Methodsmentioning

confidence: 99%

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

Lee

Alandoli

2020

J Braz. Soc. Mech. Sci. Eng.

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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.

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Section: Assumed Mode Methodsmentioning

confidence: 99%

“…Also, the authors in Ref. [32] added that only the first several modes are considered by using the AMM to derive the motion equations of FLMs and neglect the higher modes.…”

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.

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“…e optimum set is found closest to the system's natural modes among the hypothesized modes in ideal situations. us, no assumption can be made about the employed set of hypothesized modes since several structural factors of the manipulator determine the natural modes [21]. In this study, pin-free modeling, implemented in a flexible PKM [16,19], is considered for boundary conditions, which causes a significant deflection in the flexible links and remarkably investigates the effect of PZT actuators on damping the vibrations of flexible links.…”

Section: Kinematic Modelingmentioning

confidence: 99%

PZT Actuators’ Effect on Vibration Control of the PRRRP 2‐DOF Flexible Parallel Manipulator

Valizadeh

Shariatee

2021

Shock and Vibration

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Thanks to their advantages over rigid ones, interest for lightweight parallel manipulator was increased. Besides, structural flexibility effects at high operational speeds are more significant. Thus, developing an appropriate model for the assessment of the dynamic properties of flexible mechanisms and linkages to gain effective vibration control will raise high demand. Therefore, this paper represents the dynamic and kinematic modeling using the assumed mode method and first-type Lagrange equations of the 2-DOF planar parallel manipulator with two flexible links. To truly predict vibrations of the manipulator without any major simplifying assumptions, nonlinear dynamic modeling, which thoroughly attempts to represent the flexible behavior of the links, is considered. As a result, an active damping approach is being studied with PZT actuators. The results show that this approach is effective in damping the vibrations of the links that give accurate trajectory control.

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“…However, rigid manipulators based on active compliance control still present stiffness [5] when suffering sudden impacts or handling contact transients due to the control delay, which can cause damage to itself or surrounding environments. To address these issues, the flexible actuator with inherent compliance has received substantial attention in recent years and has been widely applied in robotics [6][7][8]. The flexible actuator is equipped with an elastic element that can buffer impact and provide additional time for the control system to implement effective countermeasures [9,10].…”

Section: Introductionmentioning

confidence: 99%

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

2021

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The safety of human-robot interaction is an essential requirement for designing collaborative robotics. Thus, this paper aims to design a novel variable stiffness actuator (VSA) that can provide safer physical human-robot interaction for collaborative robotics. VSA follows the idea of modular design, mainly including a variable stiffness module and a drive module. The variable stiffness module transmits the motion from the drive module in a roundabout manner, making the modularization of VSA possible. As the key component of the variable stiffness module, a stiffness adjustment mechanism with a symmetrical structure is applied to change the positions of a pair of pivots in two levers linearly and simultaneously, which can eliminate the additional bending moment caused by the asymmetric structure. The design of the double-deck grooves in the lever allows the pivot to move freely in the groove, avoiding the geometric constraint between the parts. Consequently, the VSA stiffness can change from zero to infinity as the pivot moves from one end of the groove to the other. To facilitate building a manipulator in the future, an expandable electrical system with a distributed structure is also proposed. Stiffness calibration and control experiments are performed to evaluate the physical performance of the designed VSA. Experiment results show that the VSA stiffness is close to the theoretical design stiffness. Furthermore, the VSA with a proportional-derivative feedback plus feedforward controller exhibits a fast response for stiffness regulation and a good performance for position tracking.

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Nonlinear dynamic analysis for elastic robotic arms

Cited by 7 publications

References 34 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

PZT Actuators’ Effect on Vibration Control of the PRRRP 2‐DOF Flexible Parallel Manipulator

Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment

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