TY - CHAP
T1 - Incorporation of joint flexibility with link flexibility
T2 - Proceedings of the 1995 ASME Design Engineering Technical Conference. Part C
AU - Li, Degao
AU - Zu, Jean W.
AU - Goldenberg, Andrew A.
PY - 1995
Y1 - 1995
N2 - Flexible robots with both link flexibility and joint flexibility have received increasing attention recently. In modeling the flexible robots with the assumed mode method, the model accuracy is highly dependent on the mode shapes of the link deflection. For flexible-link, flexible-joint robots, conventionally used clamped-free or pinned-free modes may cause large errors. To address this problem, this paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained. The following important conclusions are obtained: (1) Even a small joint flexibility can significantly affect the system frequencies; (2) The fundamental frequency is sensitive to the change in the payload and is not sensitive to the change in the hub inertia.
AB - Flexible robots with both link flexibility and joint flexibility have received increasing attention recently. In modeling the flexible robots with the assumed mode method, the model accuracy is highly dependent on the mode shapes of the link deflection. For flexible-link, flexible-joint robots, conventionally used clamped-free or pinned-free modes may cause large errors. To address this problem, this paper presents a systematic approach to dynamic modeling and mode analysis of a single-link flexible robot, which has a flexible joint and a hub at the base end and a payload at the free end. Accurate modes of the system are obtained. The following important conclusions are obtained: (1) Even a small joint flexibility can significantly affect the system frequencies; (2) The fundamental frequency is sensitive to the change in the payload and is not sensitive to the change in the hub inertia.
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M3 - Chapter
AN - SCOPUS:0029428437
T3 - American Society of Mechanical Engineers, Design Engineering Division (Publication) DE
BT - 15th Biennial Conference on Mechanical Vibration and Noise
A2 - Wang, K.W.
A2 - Yang, B.
A2 - Sun, J.Q.
A2 - Seto, K.
A2 - Yoshida, K.
A2 - et al, al
Y2 - 17 September 1995 through 20 September 1995
ER -