Effect of Link Flexibility on tip position of a single link robotic arm

International Conference on Vibration Problems

Raju, E. Madhusudan^1 ; Krishna, L. Siva Rama^1 ; Mouli, Y. Sharath Chandra^1 ; Rao, V Nageswara^1

Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telengana

500007, India^1

关键词: Assumed modes method;    Flexible links;    Flexible robots;    Link flexibility;    Lower energies;    Payload mass;    Quick response;    Single link;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/662/1/012020/pdf
DOI  :  10.1088/1742-6596/662/1/012020

来源: IOP

【 摘 要 】

The flexible robots are widely used in space applications due to their quick response, lower energy consumption, lower overall mass and operation at high speed compared to conventional industrial rigid link robots. These robots are inherently flexible, so that the kinematics of flexible robots can't be solved with rigid body assumptions. The flexibility in links and joints affects end-point positioning accuracy of the robot. It is important to model the link kinematics with precision which in turn simplifies modelling of dynamics of flexible robots. The main objective of this paper is to evaluate the effect of link flexibility on a tip position of a single link robotic arm for a given motion. The joint is assumed to be rigid and only link flexibility is considered. The kinematics of flexible link problem is evaluated by Assumed Modes Method (AMM) using MAT LAB Programming. To evaluate the effect of link flexibility (with and without payload) of robotic arm, the normalized tip deviation is found for flexible link with respect to a rigid link. Finally, the limiting inertia for payload mass is found if the allowable tip deviation is 5%.