The Dynamics Analysis of a Spatial Linkage with Flexible Links and Imperfect Revolute Joints

2022 ◽  
pp. 145-158
Author(s):  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Dynamics Analysis ◽  
Flexible Links ◽  
Revolute Joints

Design and locomotion analysis of the tetrahedral mobile robot with only revolute joints (TMRR)

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhirui Wang ◽  
Yezhuo Li ◽  
Bo Su ◽  
Lei Jiang ◽  
Ziming Zhao ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Main Body ◽  
Dynamics Analysis ◽  
Content Type ◽  
Displacement Error ◽  
Working Space ◽  
Revolute Joints ◽  
Physical Prototype ◽  
Moving Direction ◽  
Rolling Locomotion

Purpose The purpose of this paper is to introduce a tetrahedral mobile robot with only revolute joints (TMRR). By using rotation actuators, the mechanism of the robot gains favorable working space and eliminates the engineering difficulties caused by the multilevel extension compared with liner actuators. Furthermore, the rolling locomotion is improved to reduce displacement error based on dynamics analysis. Design/methodology/approach The main body of deforming mechanism with a tetrahedral exterior shape is composed of four vertexes and six RRR chains. The mobile robot can achieve the rolling locomotion and reach any position on the ground by orderly driving the rotation actuators. The global kinematics of the mobile modes are analyzed. Dynamics analysis of the robot falling process is carried out during the rolling locomotion, and the rolling locomotion is improved by reducing the collision impulse along with the moving direction. Findings Based on global kinematics analysis of TMRR, the robot can realize the continuous mobility based on rolling gait planning. The main cause of robot displacement error and the corresponding improvement locomotion are gained through dynamic analysis. The results of the theoretical analysis are verified by experiments on a physical prototype. Originality/value The work introduced in this paper is a novel exploration of applying the mechanism with only revolute joints to the field of tetrahedral rolling robots. It is also an attempt to use the improved rolling locomotion making this kind of mobile robot more practical. Meanwhile, the reasonable engineering structure of the robot provides feasibility for load carrying.

scholarly journals Programmed task based motion analysis of robotic systems equipped with flexible links and supports

2018 ◽  
Vol 241 ◽  
pp. 01008 ◽  
Author(s):  
Elżbieta Jarzębowska ◽  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Motion Analysis ◽  
Computational Procedure ◽  
Robotic Systems ◽  
Dynamics Analysis ◽  
Flexible Link ◽  
Flexible Links ◽  
Rigid Finite Element Method ◽  
Joint Coordinates

The automatic computational procedure to derivate dynamics equations of systems with programmed constraints modified to encompass compliant mechanical components in their structures is discussed in the paper. The dynamics analysis of the compliant manipulator model with a flexible link is presented as an example. The rigid finite element method is used in order to take into account the flexibility of the link. The formalism of joint coordinates and homogeneous transformations are used to describe the manipulator motion.

Dynamics analysis of 2-DOF complex planar mechanical system with joint clearance and flexible links

2018 ◽  
Vol 93 (3) ◽  
pp. 1009-1034 ◽  
Author(s):  
Xiulong Chen ◽  
Shuai Jiang ◽  
Yu Deng ◽  
Qing Wang
Keyword(s):  
Mechanical System ◽  
Joint Clearance ◽  
Dynamics Analysis ◽  
Flexible Links

scholarly journals Dynamics analysis of spatial parallel robot with rigid and flexible links

2020 ◽  
Vol 17 (6) ◽  
pp. 7101-7129
Author(s):  
Qingyun Zhang ◽  
◽  
Xinhua Zhao ◽  
Liang Liu ◽  
Tengda Dai ◽  
...  
Keyword(s):  
Parallel Robot ◽  
Dynamics Analysis ◽  
Flexible Links

scholarly journals Dynamic modeling and simulation of a flexible robotic manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 523-528 ◽  
Author(s):  
V.O. Gamarra-Rosado ◽  
E.A.O. Yuhara
Keyword(s):  
Dynamic Modeling ◽  
Beam Theory ◽  
Robotic Manipulator ◽  
The Finite Element Method ◽  
Control Applications ◽  
Flexible Links ◽  
Future Design ◽  
Revolute Joints ◽  
Flexible Robotic Manipulator ◽  
And Control

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

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