Dynamic behaviors of a single flexible link manipulator under different driving rules
Abstract: 48
| 
PDF: 41 
##plugins.themes.academic_pro.article.main##
Author
Keywords:
Flexible link manipulator
nonlinear dynamic
elastic displacements
driving rules
dynamic behaviors
Abstract
In this article, nonlinear dynamic modeling and investigation into the effects of different driving rules on dynamic behavior of a single flexible link manipulator are presented. Dynamic equations are derived from finite element method based on Lagrange approach.The effects of elastic displacements on robot motion make dynamic modeling and control become complicated by highly nonlinear characteristics. Besides, most studies have not clearly determined driving rule or the reason why the driving rule is selected. The results have important meanings to select reasonable driving rules for single flexible link manipulators with payload or not. Dynamic behaviors of the system are simulated like a specific example on Matlab/Simulink software.
References
-
[1] M O Tokhi, Z Mohamed and M H Shaheed, “Dynamic characterization of a flexible manipulator system”. Robotica /Volume 19/Issue 05/pp 571 – 580, September 2001.
[2] Victor Gavriloiu, “Design of dynamic nonlinear control techniques for flexible link manipulator”, Thesis submitted for the degree of master of applied Science, Concordia University Montreal, Quebec, Canada (2005).
[3] L. T. Wang and B. Ravani, Dynamic load carrying capacity of mechanical manipulators-part I: problem formulation, Journal of Dynamic system, measurement and control, March 1988, Vol. 110/47.
[4] L. T. Wang and B. Ravani, Dynamic load carrying capacity of mechanical manipulators-part II: computational procedure and applications, Journal of Dynamic system, measurement and control, March 1988, Vol. 110/53.
[5] Moharam H Korayem, Mostafa Nazemizadeh, and Hamed Rahimi nahooji, Dynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle, Journal of optimization in Industrial Engineering 12 (2013), 17-24.
[6] S. S. Ge, T. H. Lee and G. Zhu, A Nonlinear feedback controller for a single link flexible manipulator based on a finite element method, Journal of robotics system 14(3), 165-178, 1997.
[7] M. Pala Prasad Reddy and Jeevamma Jacob, Accurate modeling and nonlinear finite element analysis of a flexible link manipulator, International Journal of Mechanical, Aerospace, Industrial and Mechatronics Engineering Vol.8, No.1, 2014.
Read more
##plugins.themes.academic_pro.article.sidebar##
Published
Dec 31, 2017
Download
How to Cite
Bien Xuan Duong, My Anh Chu, Lac Van Duong. “Dynamic Behaviors of a Single Flexible Link Manipulator under Different Driving Rules”. The University of Danang - Journal of Science and Technology, vol. 12, no. 121, Dec. 2017, pp. 6-10, https://jst-ud.vn/jst-ud/article/view/3239.
