Incorporation of joint flexibility with link flexibility: Dynamic modeling and analysis

Degao Li, Jean W. Zu, Andrew A. Goldenberg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication15th Biennial Conference on Mechanical Vibration and Noise - Vibration Control, Analysis, and Identification
Pages1357-1362
Number of pages6
ISBN (Electronic)9780791897669
DOIs
StatePublished - 1995
EventASME 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 - Boston, United States
Duration: 17 Sep 199520 Sep 1995

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume3C-1995

Conference

ConferenceASME 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
Country/TerritoryUnited States
CityBoston
Period17/09/9520/09/95

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