Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops

962 Views
1332 Downloads
Export citation: ABNT
DUPAC, Mihai ;NOROOZI, Siamak .
Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 60, n.7-8, p. 475-482, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/>. Date accessed: 05 jul. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2013.1544.
Dupac, M., & Noroozi, S.
(2014).
Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops.
Strojniški vestnik - Journal of Mechanical Engineering, 60(7-8), 475-482.
doi:http://dx.doi.org/10.5545/sv-jme.2013.1544
@article{sv-jmesv-jme.2013.1544,
	author = {Mihai  Dupac and Siamak  Noroozi},
	title = {Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {7-8},
	year = {2014},
	keywords = {Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics},
	abstract = {Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.},
	issn = {0039-2480},	pages = {475-482},	doi = {10.5545/sv-jme.2013.1544},
	url = {https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/}
}
Dupac, M.,Noroozi, S.
2014 June 60. Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 60:7-8
%A Dupac, Mihai 
%A Noroozi, Siamak 
%D 2014
%T Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops
%B 2014
%9 Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics
%! Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops
%K Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics
%X Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.
%U https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/
%0 Journal Article
%R 10.5545/sv-jme.2013.1544
%& 475
%P 8
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 60
%N 7-8
%@ 0039-2480
%8 2018-06-28
%7 2018-06-28
Dupac, Mihai, & Siamak  Noroozi.
"Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops." Strojniški vestnik - Journal of Mechanical Engineering [Online], 60.7-8 (2014): 475-482. Web.  05 Jul. 2020
TY  - JOUR
AU  - Dupac, Mihai 
AU  - Noroozi, Siamak 
PY  - 2014
TI  - Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2013.1544
KW  - Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics
N2  - Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.
UR  - https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/
@article{{sv-jme}{sv-jme.2013.1544},
	author = {Dupac, M., Noroozi, S.},
	title = {Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {60},
	number = {7-8},
	year = {2014},
	doi = {10.5545/sv-jme.2013.1544},
	url = {https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/}
}
TY  - JOUR
AU  - Dupac, Mihai 
AU  - Noroozi, Siamak 
PY  - 2018/06/28
TI  - Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 60, No 7-8 (2014): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2013.1544
KW  - Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics
N2  - Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.
UR  - https://www.sv-jme.eu/article/dynamic-modeling-and-simulation-of-a-rotating-single-link-flexible-robotic-manipulator-subject-to-quick-stops/
Dupac, Mihai, AND Noroozi, Siamak.
"Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 60 Number 7-8 (28 June 2018)

Authors

Affiliations

  • Bournemouth University, School of Design, Engineering and Computing, UK 1

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 60(2014)7-8, 475-482

https://doi.org/10.5545/sv-jme.2013.1544

Single link robotic manipulators are extensively used in industry and research operations. The main design requirement of such manipulators is to minimize link dynamic deflection and its active end vibrations, and obtain high position accuracy during its high-speed motion. To achieve these requirements, accurate mathematical modeling and simulation of the initial design, to increase system stability and precision and to obtain very small amplitudes of vibration, should be considered. In this paper the modeling of such a robotic arm with a rigid guide and a flexible extensible link subject to quick stops after each complete revolution is considered and its dynamical behavior analyzed. The extensible link that rotates with constant angular velocity has one end constrained to a predefined trajectory. The constrained trajectory allows trajectory control and obstacle avoidance for the active end of the robotic arm. The dynamic evolution of the system is investigated and the flexural response of the flexible link analyzed under the combined effect of clearance and flexibility.

Robotic arm, flexible manipulator, extensible mechanism, clearance, dynamics