TY - GEN
T1 - Incorporation of joint flexibility with link flexibility
T2 - ASME 1995 Design Engineering Technical Conferences, DETC 1995, collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium
AU - Li, Degao
AU - Zu, Jean W.
AU - Goldenberg, Andrew A.
N1 - Publisher Copyright:
© 1995 American Society of Mechanical Engineers (ASME). All rights reserved.
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 obtedned. 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 obtedned. 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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U2 - 10.1115/DETC1995-0713
DO - 10.1115/DETC1995-0713
M3 - Conference contribution
AN - SCOPUS:85103435478
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 1357
EP - 1362
BT - 15th Biennial Conference on Mechanical Vibration and Noise - Vibration Control, Analysis, and Identification
Y2 - 17 September 1995 through 20 September 1995
ER -