Dynamic modeling of a laminated composite-material flexible robot arm made of short beams

Journal Article · Tue Oct 01 04:00:00 EDT 1991 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499101000511· OSTI ID:5129537

Chalhoub, N G ^[1]; Gordaninejad, F; Lin, Q; Ghazavi, A ^[2]

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1. Wayne State Univ., Detroit, MI (United States)
2. Univ. of Nevada, Reno (United States)

High-precision assembly tasks are often performed by compact industrial robots with small work envelopes. The end-effector positional accuracy of compact robots can be accurately predicted by considering the links of the robot arm as short beams. In this study, a general procedure to derive a dynamic model for a revolute flexible robot arm, which takes into consideration the rotary inertia and shear deformation effects, is presented. Only the last link of the arm is considered to be flexible and assumed to be fabricated from laminated composite materials. Hamilton's principle is used to derive the equations of motion. A displacement finite element model based on the Timoshenko beam theory is implemented to approximate the solution. The digital simulation studies predict the deflections at the end effector and examine the combined effects of rotary inertia and shear deformation. Furthermore, the improvement in the dynamic response of the robot arm resulting from the fabrication of the manipulator from laminated composite materials is demonstrated.

• OSTI ID: 5129537
• Journal Information: International Journal of Robotics Research; (United States), Journal Name: International Journal of Robotics Research; (United States) Vol. 10:5; ISSN 0278-3649; ISSN IJRRE
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990200* -- Mathematics & Computers
ARMS
BODY
BODY AREAS
COMPUTERIZED CONTROL SYSTEMS
COMPUTERIZED SIMULATION
CONTROL SYSTEMS
DEFORMATION
DIFFERENTIAL EQUATIONS
EQUATIONS
EQUATIONS OF MOTION
LIMBS
MATHEMATICAL MODELS
MOMENT OF INERTIA
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
PARTIAL DIFFERENTIAL EQUATIONS
ROBOTS
SIMULATION