Journal ArticleDOI
Influences of generic payload and constraint force on modal analysis and dynamic responses of flexible manipulator
Pravesh Kumar,Barun Pratiher +1 more
TLDR
This article presents the dynamic modeling and nonlinear analysis of two-link flexible manipulator with generic payload whose center of gravity is different than the point of attachment with the generic payload.Abstract:
This article presents the dynamic modeling and nonlinear analysis of two-link flexible manipulator with generic payload whose center of gravity is different than the point of attachment with the liread more
Citations
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Journal ArticleDOI
Determination of modes of vibration for accurate modelling of the flexibility effects on dynamics of a two link flexible manipulator
Natraj Mishra,S. Singh +1 more
TL;DR: In this article , the effect of flexibility on the dynamics of a two-link planar manipulator having two revolute joints is investigated and a mathematical model validated through experiments is obtained.
Journal ArticleDOI
Blind-Kriging based natural frequency modeling of industrial Robot
TL;DR: In this paper, a blind-Kriging-based natural frequency prediction of the industrial robot is proposed, utilizing the Latin Hypercube Sampling (LHS) technique, and a reliable dataset with 120 samples is generated for surrogate models based on the FEM.
Journal ArticleDOI
Elastodynamic analysis of multibody systems and parametric mass matrix derivation
TL;DR: One important aspect of the dynamic performance evaluation of a parallel manipulator is the elastodynamic analysis which calls for the calculation of the stiffness and mass matrices.
Journal ArticleDOI
A Saturation-Based Method for Primary Resonance Control of Flexible Manipulator
TL;DR: In this paper , a nonlinear saturation-based control method was proposed to suppress the primary resonance of a flexible manipulator considering complicated rigid-flexible coupling and modal coupling.
References
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Journal ArticleDOI
On the Control of Two-link Flexible Robot Arm with Nonuniform Cross Section
Mustafa Dogan,Ömer Morgül +1 more
TL;DR: In this article, the authors considered the motion of a two-link flexible arm with nonuniform cross-section and obtained the equations of motion by using the extended Hamilton's principle.
Journal ArticleDOI
A new approach for dynamic modeling of n-viscoelastic-link robotic manipulators mounted on a mobile base
TL;DR: In this article, the mathematical modeling of a robotic system composed of n flexible links and a mobile platform has been considered, where the Gibbs-Appell formulation and the assumed mode method are used to make the derivation of motion equations easier.
Journal ArticleDOI
Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices
TL;DR: In this paper, nonlinear equations of motion for flexible manipulator arms consisting of rotary joints connecting two flexible links are developed, where the link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes.
Journal ArticleDOI
Theoretical and experimental investigation of viscoelastic serial robotic manipulators with motors at the joints using Timoshenko beam theory and Gibbs–Appell formulation
TL;DR: In this article, a mathematical modeling of n-viscoelastic-link robotic manipulators based on the Gibbs-Appell formulation and the assumed mode method is developed, where the elastic properties of the links are modeled according to the Timoshenko beam theory and its associated mode shapes.
Journal ArticleDOI
Dynamic analysis of a two-link flexible manipulator subject to different sets of conditions
TL;DR: In this article, the effect of different sets of initial and boundary conditions on the joints torques is investigated in a flexible manipulator and the elastic deflection for each link is computed using the assumed modes methods for four modes of vibration.
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Modal analysis and dynamic responses of a rotating Cartesian manipulator with generic payload and asymmetric load
Pravesh Kumar,Barun Pratiher +1 more