Dynamic Model and Vibration Characteristic of the Cartesian Robotic Arm with Deploying Motion

This article presents a nonlinear dynamic model of a flexible robotic arm considering nonlinearity from elastic deformation and the effect of gravity. The dynamic model can be decomposed into separate flexible and rigid subsystems. A decomposed dynamic control, including flexible and rigid dynamic controls, is proposed for the controller of the flexible robotic arm. Optimization is used in this flexible dynamic control to obtain the desired trajectory and can deal offline with strong nonlinearity, but it is excessively dependent on the accuracy of the model, so it is not robust enough and has poor disturbance-rejection capabilities. The rigid dynamic control, by contrast, is expected to be sufficiently robust to compensate for uncertain factors. Therefore, a hybrid sliding mode control is proposed to track the desired trajectory and further suppress residual vibration. Additionally, the actual flexible modes are estimated to accurately calculate the component of the proposed controller. This study addresses the theoretical derivation and experimental verification of the proposed controller.

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Dynamic Model and Analysis of Nonlinear Vibration Characteristic of a Curve-Face Gear Drive

Strojniški vestnik – Journal of Mechanical Engineering ◽

10.5545/sv-jme.2016.3859 ◽

2017 ◽

Vol 63 (3) ◽

pp. 161-170 ◽

Cited By ~ 4

Author(s):

Zhiqin Cai ◽

Chao Lin

Keyword(s):

Nonlinear Vibration ◽

Dynamic Model ◽

Vibration Characteristic ◽

Face Gear ◽

Gear Drive ◽

Curve Face

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Dynamic analysis of a five degree of freedom robotic arm using MATLAB-Simulink Simscape

MATEC Web of Conferences ◽

10.1051/matecconf/202134308004 ◽

2021 ◽

Vol 343 ◽

pp. 08004

Author(s):

Mihai Crenganis ◽

Alexandru Barsan ◽

Melania Tera ◽

Anca Chicea

Keyword(s):

Dynamic Analysis ◽

Dynamic Model ◽

Inverse Kinematics ◽

Geometric Approach ◽

Correct Choice ◽

Inverse Kinematic ◽

Degree Of Freedom ◽

Robotic Arm ◽

Inverse Kinematic Problem ◽

Joint Torques

In this paper, a dynamic analysis for a 5 degree of freedom (DOF) robotic arm with serial topology is presented. The dynamic model of the robot is based on importing a tri-dimensional CAD model of the robot into Simulink®-Simscape™-Multibody™. The dynamic model of the robot in Simscape is a necessary and important step in development of the mechanical structure of the robot. The correct choice of the electric motors is made according to the resistant joint torques determined by running the dynamic analysis. One can import complete CAD assemblies, including all masses, inertias, joints, constraints, and tri-dimensional geometries, into the model block. The first step for executing a dynamic analysis is to resolve the Inverse Kinematics (IK) problem for the redundant robot. The proposed method for solving the inverse kinematic problem for this type of structure is based on a geometric approach and validated afterwards using SimScape Multibody. Solving the inverse kinematics problem is a mandatory step in the dynamic analysis of the robot, this is required to drive the robot on certain user-imposed trajectories. The dynamic model of the serial robot is necessary for the simulation of motion, analysis of the robot’s structure and design of optimal control algorithms.

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VALIDATION OF THE DYNAMIC MODEL OF THE PLANAR ROBOTIC ARM WITH USING GRAVITY TEST

MM Science Journal ◽

10.17973/mmsj.2020_12_2020069 ◽

2020 ◽

Vol 2020 (5) ◽

pp. 4210-4215

Author(s):

Monika Trojanova ◽

Tomas Cakurda

Keyword(s):

Dynamic Model ◽

Robotic Arm ◽

Gravity Test

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Research on Damping and Vibration Characteristic of the Large and Precision NC Rotary Table

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.97-101.1216 ◽

2010 ◽

Vol 97-101 ◽

pp. 1216-1222 ◽

Cited By ~ 3

Author(s):

Chun Jian Yu ◽

Xiao Diao Huang ◽

Cheng Gang Fang ◽

Ke Fang Dai

Keyword(s):

Cutting Force ◽

Dynamic Model ◽

Friction Force ◽

High Frequency ◽

Coulomb Friction ◽

Vibration Characteristic ◽

Rotary Table ◽

Online Test ◽

Cutting Chatter ◽

Coulomb Friction Force

According to the current situation of acicular chip and high-frequency chattering of the NC rotary table while gear milling, rigidity and damping performances of the table were analyzed and the damping program of Coulomb friction was bring up. Online test of the gear milling cutting force can be used to establish dynamic model of circumferential vibration of the table with Coulomb friction. Then mechanism of restraining gear cutting chatter by damping of Coulomb friction and acicular chip generating mechanism were exposed. Furthermore, relationship between backlash and rotary rigidity of the table was also analyzed. A kind of floating apparatus with friction damping was designed to optimize circumferential damping of the table by adjusting Coulomb friction force, which reduces the influence of high-frequency chattering on gear milling. As a result, efficiency of gear milling was increased 1.5 times and the noise was reduced from 105dB to 91dB.

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Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

Journal of Mechanisms and Robotics ◽

10.1115/1.4023636 ◽

2013 ◽

Vol 5 (2) ◽

Cited By ~ 16

Author(s):

Tianjiang Zheng ◽

David T. Branson ◽

Emanuele Guglielmino ◽

Rongjie Kang ◽

Gustavo A. Medrano Cerda ◽

...

Keyword(s):

Dynamic Model ◽

Model Validation ◽

Degrees Of Freedom ◽

Robotic Arm ◽

Octopus Vulgaris ◽

Light Weight ◽

Continuum Robots ◽

Continuum Structure ◽

External Forces ◽

Good Agreement

Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. Robotic structures inspired by octopus arms have to undertake the challenges of a high number of degrees of freedom (DOF), coupled with highly flexible continuum structure. This paper presents a kinematic and dynamic model for underwater continuum robots inspired by Octopus vulgaris. Mass, damping, stiffness, and external forces such as gravity, buoyancy, and hydrodynamic forces are considered in the dynamic model. A continuum arm prototype was built utilizing longitudinal and radial actuators, and comparisons between the simulated and experimental results show good agreement.

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