Systematic modeling of a chain of N-flexible link manipulators connected by revolute–prismatic joints using recursive Gibbs-Appell formulation

Korayem, M. H.; Shafei, A. M.; Dehkordi, S. F.

doi:10.1007/s00419-013-0793-y

Cited by 58 publications

(26 citation statements)

References 36 publications

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“…[1][2][3][4][5][6][7][8] There have also been attempts to generalize the kinematic and dynamic modeling problems for the multilink flexible robots, and most of these investigations focus on the multilink flexible robots consisting of all revolute joints. 4,[9][10][11][12][13] There were also studies considering the use of the prismatic joints for the flexible robots. 10,11,14,15 However, these studies mainly focused on the use of the assumed modes method (AMM) for the dynamic modeling.…”

Section: Introductionmentioning

confidence: 99%

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New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

Bien

2020

International Journal of Advanced Robotic Systems

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When a segment of a flexible link of a flexible robot is currently sliding through a prismatic joint, it is usually assumed that the elastic deformation of the segment equals to zero. This is a kind of time-dependent boundary condition when formulating the dynamics model of a flexible robot consisting of prismatic joints. Hence, the dynamic modeling and especially the inverse dynamic analysis of the flexible robots with the prismatic joints are challenging. In this article, we present a new development of the dynamic modeling method for a generic two-link flexible robot that consists of a prismatic joint and a revolute joint. Moreover, a new bisection method-based algorithm is proposed to analyze the inverse dynamic responses of the flexible robots. Since the bisection method is a rapid converging method in mathematics, the proposed algorithm is effectively applicable to solving the inverse dynamic problem of a flexible robot in a robust manner. Last, the numerical simulation results show the effectiveness and the robustness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

“…4,[9][10][11][12][13] There were also studies considering the use of the prismatic joints for the flexible robots. 10,11,14,15 However, these studies mainly focused on the use of the assumed modes method (AMM) for the dynamic modeling. Al-Bedoor and Khulief 14 investigated the dynamics of a sliding flexible link through a prismatic joint.…”

Section: Introductionmentioning

confidence: 99%

New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

Bien

2020

International Journal of Advanced Robotic Systems

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“…This method is a non-recursive and non-iterative approach carried out in the time domain in contrast with methods previously proposed. By using either the finite element method (FEM) or AMM, some other authors consider the dynamic modeling and analysis of the flexible robots with translational joint [4][5][6][7][8]. Pan et al [4] presented a model R-P with FEM approach.…”

mentioning

confidence: 99%

“…The dynamic equations are derived using the Jourdain's principle and the Gibbs-Appell notation. Korayem [7] also presented a systematic algorithm capable of deriving equations of motion of N-flexible link manipulators with revolute-prismatic joints by using recursive Gibbs-Appell formulation and AMM. However, the inverse dynamics modeling and analysis of the generalized flexible robot constructed with translational joint has not been much mentioned yet.…”

mentioning

confidence: 99%

Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints

2017

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Inverse dynamic problem analyzing of flexible link robot with translational and rotational joints is presented in this work. The new model is developed from single flexible link manipulator with only rotational joint. The dynamic equations are built by using finite element method and Lagrange approach. The approximate force of translational joint and torque of rotational joint are found based on rigid model. The simulation results show the values of driving forces at joints of flexible robot with desire path and errors of joint variables between flexible and rigid models. Elastic displacements of end-effector are shown, respectively. There are remaining issues which need be studied further in future work because the error joints variables in algorithm to solve inverse dynamic problem of flexible with translational joint has not been mentioned yet.

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“…The dynamic equations are derived using the Jourdain's principle and the Gibbs-Appell notation. Korayem [8] also presented a systematic algorithm capable of deriving equations of motion of N-flexible link manipulators with revolute-translational joints by using recursive Gibbs-Appell formulation and AMM.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints

Bien

2018

MaP

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Flexible link manipulators are widely used in many areas such the space technology, medical, defense and automation industries. They are more realistic than their rigid counterparts in many practical conditions. Most of the investigations have been confined to manipulators with only rotational joint. Combining such systems with translational joints enables these manipulators more flexibility and more applications. In this paper, a nonlinear dynamic modeling and control of flexible link manipulator with rigid translational and rotational joints is presented. This model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. Finite element method and Lagrange approach are used to model and build equations of the motion. PID controller is designed with parameters (Kp, Ki, Kd) which are optimized by using Particle Swarm Optimization algorithm (PSO). Errors of joints variables and elastic displacements at the end-effector point are reduced to warrant initial request. The results of this study play an important role in modeling generalized planar flexible two-link robot and in selecting the suitable structure robot with the same request.

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Systematic modeling of a chain of N-flexible link manipulators connected by revolute–prismatic joints using recursive Gibbs-Appell formulation

Cited by 58 publications

References 36 publications

New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

New development of the dynamic modeling and the inverse dynamic analysis for flexible robot

Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints

Dynamic Modeling and Control of a Flexible Link Manipulators with Translational and Rotational Joints

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