Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator

Robotica ◽  
1986 ◽  
Vol 4 (4) ◽  
pp. 237-242 ◽  
Author(s):  
M. Shahinpoor ◽  
A. Meghdari
Keyword(s):  
Elastic Deformation ◽  
Invariance Principle ◽  
Stiffness Matrix ◽  
Strain Energy ◽  
High Speed ◽  
Robot Manipulator ◽  
Joint Stiffness ◽  
Light Weight ◽  
Flexible Robot ◽  
Coordinate Frames

SUMMARYAn expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.

Three-dimensional flexural-joint stiffness analysis of flexible manipulator arms

Robotica ◽  
1988 ◽  
Vol 6 (3) ◽  
pp. 203-212 ◽  
Author(s):  
A. Meghdari ◽  
M. Shahinpoor
Keyword(s):  
Stiffness Matrix ◽  
Three Dimensional ◽  
Joint Stiffness ◽  
Beam Theory ◽  
Flexible Manipulator ◽  
Robotic Arm ◽  
Flexible Robot ◽  
Stiffness Analysis ◽  
Stiffness Matrices ◽  
Stiffness Properties

SUMMARYThis paper presents a complete derivation of the combined flexural-joint stiffness matrix and the elastic deformation field of flexible manipulator arms treated in a three-dimensional fashion. The stiffness properties are derived directly from the differential equations used in the engineering beam theory. The expressions developed here can readily be used in the modeling, control and design of light weight flexible robot manipulators. A two-link arm is used to formulate these expressions and the results can be generalized to n–link manipulators. The stiffness matrix for a robotic link element in 3-D is of the order of 12 X 12, and for an n–link robotic arm the total elemental and system stiffness matrices will be of the order of the (12n X 12n) and 6(n + 1) X 6(n + 1), respectively.

scholarly journals Electromechanical Coupling Characteristics Analysis and Research of Rotation-Parallel Flexible Robot Manipulator

2022 ◽  
Author(s):  
zhi xiao ◽  
Wenhui Zhang
Keyword(s):  
Dynamic Characteristics ◽  
High Speed ◽  
Electromechanical Coupling ◽  
Robot Manipulator ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Prototype Model ◽  
Motor Speed ◽  
Flexible Robot ◽  
Matlab Simulink

Abstract RP(Rotation-Parallel) flexible robot as a typical electromechanical system. The complex electromechanical coupling effect in the system has a significant impact on the dynamic characteristics and stability of the flexible manipulator. This article investigates the electromechanical coupling dynamics and vibration response characteristics of flexible robot manipulator driven by AC(Alternating Current) servo motor with considering the start-up dynamic characteristics of the motor. Firstly, the physical model including the coupling of electromagnetic and mechanical system is established, and the dynamic model of the whole system is derived based on the global electromechanical coupling effect and Lagrange-Maxwell equations. Secondly, the virtual simulation platform is constructed with the help of MATLAB/Simulink, and the output speed characteristics of the motor drive end and the motion of the moving base are analyzed. Finally, through the joint simulation of MATLAB/Simulink dynamic simulation model and ADAMS/Controls virtual prototype model, the vibration characteristics of flexible manipulator under electromechanical coupling are obtained. The result demonstrates that the electromechanical coupling effect at the motor driving end has an obvious influence on the dynamic characteristics of the flexible manipulator, which is manifested in the increase of the vibration displacement amplitude of the flexible manipulator. With the increase of motor speed, the change of elastic vibration of flexible manipulator becomes larger, which shows that the electromechanical coupling effect of motor driving end has a greater impact on the dynamic characteristics of flexible manipulator at high speed. The analysis results are of great significance to improve the dynamic performance of motor-driven flexible robot manipulator.

scholarly journals Knee Kinematics Estimation Using Multi-Body Optimisation Embedding a Knee Joint Stiffness Matrix: A Feasibility Study

PLoS ONE ◽  
2016 ◽  
Vol 11 (6) ◽  
pp. e0157010 ◽  
Author(s):  
Vincent Richard ◽  
Giuliano Lamberto ◽  
Tung-Wu Lu ◽  
Aurelio Cappozzo ◽  
Raphaël Dumas
Keyword(s):  
Knee Joint ◽  
Feasibility Study ◽  
Stiffness Matrix ◽  
Joint Stiffness ◽  
Knee Kinematics ◽  
Multi Body

scholarly journals Improvement of Heavy Load Robot Positioning Accuracy by Combining a Model-Based Identification for Geometric Parameters and an Optimized Neural Network for the Compensation of Nongeometric Errors

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Yuxiang Wang ◽  
Zhangwei Chen ◽  
Hongfei Zu ◽  
Xiang Zhang ◽  
Chentao Mao ◽  
...  
Keyword(s):  
Neural Network ◽  
Manufacturing Systems ◽  
Robot Manipulator ◽  
Joint Stiffness ◽  
Calibration Method ◽  
Geometric Parameters ◽  
Heavy Load ◽  
Positioning Accuracy ◽  
Robot Positioning ◽  
Residual Errors

The positioning accuracy of a robot is of great significance in advanced robotic manufacturing systems. This paper proposes a novel calibration method for improving robot positioning accuracy. First of all, geometric parameters are identified on the basis of the product of exponentials (POE) formula. The errors of the reduction ratio and the coupling ratio are identified at the same time. Then, joint stiffness identification is carried out by adding a load to the end-effector. Finally, residual errors caused by nongeometric parameters are compensated by a multilayer perceptron neural network (MLPNN) based on beetle swarm optimization algorithm. The calibration is implemented on a SIASUN SR210D robot manipulator. Results show that the proposed method possesses better performance in terms of faster convergence and higher precision.

Crack Driving Force in Anisotropic Media due to Non-Elastic Deformation

2004 ◽  
Vol 261-263 ◽  
pp. 75-80
Author(s):  
G.H. Nie ◽  
H. Xu
Keyword(s):  
Elastic Deformation ◽  
Driving Force ◽  
Strain Energy ◽  
Elastic Stress ◽  
Complex Function ◽  
Crack Driving Force ◽  
Special Cases ◽  
Degree Of Anisotropy ◽  
Minimum Strain Energy ◽  
Orthotropic Media

In this paper elastic stress field in an elliptic inhomogeneity embedded in orthotropic media due to non-elastic deformation is determined by the complex function method and the principle of minimum strain energy. Two complex parameters are expressed in a general form, which covers all characterizations of the degree of anisotropy for any ideal orthotropic elastic body. The stress acting on the long side of ellipse can be considered as a crack driving force and applied in failure and fatigue analysis of composites. For some special cases, the resulting solutions will reduce to the known results.

scholarly journals A High-Speed, Light-Weight Scalar Magnetometer Bird for km Scale UAV Magnetic Surveying: On Sensor Choice, Bird Design, and Quality of Output Data

2021 ◽  
Vol 13 (4) ◽  
pp. 649
Author(s):  
Arne Døssing ◽  
Eduardo Lima Simoes da Silva ◽  
Guillaume Martelet ◽  
Thorkild Maack Rasmussen ◽  
Eric Gloaguen ◽  
...  
Keyword(s):  
High Speed ◽  
Large Scale ◽  
Signal To Noise Ratio ◽  
Regional Scale ◽  
Weather Conditions ◽  
Light Weight ◽  
Output Data ◽  
Efficient Manner ◽  
Flexible System ◽  
Scalar Data

Magnetic surveying is a widely used and cost-efficient remote sensing method for the detection of subsurface structures at all scales. Traditionally, magnetic surveying has been conducted as ground or airborne surveys, which are cheap and provide large-scale consistent data coverage, respectively. However, ground surveys are often incomplete and slow, whereas airborne surveys suffer from being inflexible, expensive and characterized by a reduced signal-to-noise ratio, due to increased sensor-to-source distance. With the rise of reliable and affordable survey-grade Unmanned Aerial Vehicles (UAVs), and the developments of light-weight magnetometers, the shortcomings of traditional magnetic surveying systems may be bypassed by a carefully designed UAV-borne magnetometer system. Here, we present a study on the development and testing of a light-weight scalar field UAV-integrated magnetometer bird system (the CMAGTRES-S100). The idea behind the CMAGTRES-S100 is the need for a high-speed and flexible system that is easily transported in the field without a car, deployable in most terrain and weather conditions, and provides high-quality scalar data in an operationally efficient manner and at ranges comparable to sub-regional scale helicopter-borne magnetic surveys. We discuss various steps in the development, including (i) choice of sensor based on sensor specifications and sensor stability tests, (ii) design considerations of the bird, (iii) operational efficiency and flexibility and (iv) output data quality. The current CMAGTRES-S100 system weighs ∼5.9 kg (including the UAV) and has an optimal surveying speed of 50 km/h. The system was tested along a complex coastal setting in Brittany, France, targeting mafic dykes and fault contacts with magnetite infill and magnetite nuggets (skarns). A 2.0 × 0.3 km area was mapped with a 10 m line-spacing by four sub-surveys (due to regulatory restrictions). The sub-surveys were completed in 3.5 h, including >2 h for remobilisation and the safety clearance of the area. A noise-level of ±0.02 nT was obtained and several of the key geological structures were mapped by the system.

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