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IssuesArchive of Issues2003-6pp.13-22

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V. I. Gulyaev and T. V. Zavrazhina, "Dynamics of a manipulation robot with flexible links and drive mechanisms," Mech. Solids. 38 (6), 13-22 (2003)
Year 2003 Volume 38 Number 6 Pages 13-22
Title Dynamics of a manipulation robot with flexible links and drive mechanisms
Author(s) V. I. Gulyaev (Kiev)
T. V. Zavrazhina (Kiev)
Abstract Issues associated with the construction and analysis of mathematical dynamic models of multi-link manipulation robots are considered. The mathematical models take into account the dynamics of the drives and the elastic compliance of the structural members of the robots. We discuss whether it is reasonable to take into account simultaneously the distributed elastic compliance and inertia of the manipulator and the transmission mechanisms of the drives to study high-frequency intensive elastic vibrations that can arise during operation of manipulation systems. The elastic compliance can increase the response time of a robotic system when reproducing a prescribed motion and reduce the accuracy of positioning of the end-effectors or lead to the appearance of dangerous resonant phenomena. These resonant phenomena manifest themselves by an increase of dynamic loads on various members of the robot's structure. We compare the results of the analysis of the dynamic characteristics of a robot with flexible drives on the basis of two models of control of motion of the robot. In one of these models, the links of the manipulator are treated as rigid bodies, whereas the other model takes into account the elastic compliance of the links. In both models, the geometric and physical characteristics of the links are identical.
References
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2.  F. L. Chernousko, N. N. Bolotnik, and V. G. Gradetskii, Manipulation Robots [in Russian], Nauka, Moscow, 1985.
3.  A. S. Moris and A. Madani, "Static and dynamic modelling of a two-flexible-link robot manipulators," Robotica, Vol. 14, No. 3, pp. 289-300, 1996.
4.  S. Yu and M. A. Elbestawi, "Modelling and dynamic analysis of a two-link manipulator with both joint and link flexibilities," J. Sound and Vibrat., Vol. 179, No. 5, pp. 839-854, 1995.
5.  L. Meirovich and T. Stemple, "Hybrid equations of motion for flexible multibody systems using quasicoordinates," J. Guid., Contr., and Dyn., Vol. 18, No. 4, pp. 678-688.
6.  V. I. Gulyaev and T. V. Zavrazhina, "Dynamic control of plane motions of an elastic two-link space manipulation robot," Problemy Upravleniya i Informatiki, No. 1, pp. 140-154, 1998.
7.  V. I. Gulyaev and T. V. Zavrazhina, "Dynamics of controlled motion of an elastic manipulation robot," Izv. AN. MTT [Mechanics of Solids], No. 5, pp. 19-28, 1998.
8.  P. D. Krut'ko, Control of Working Systems of Robots [in Russian], Nauka, Moscow, 1991.
9.  M. S. de Queiroz, S. Donepudi, T. Burg, and D. M. Dawson, "Model-based control of rigid-link flexible-joint robots: An experimental evaluation," Robotica, Vol. 16, No. 1, pp. 11-21, 1998.
10.  M. Vukobratovic, V. Matijevic, and V. Potkonjak, "Control of robots with elastic joints interacting with dynamic environment," J. Intell. and Rob. Syst., Vol. 23, No. 1, pp. 87-100, 1998.
11.  M. H. Koraem and A. Basu, "Optimal load of robotic manipulator with joint elasticity using accuracy and actuator constraints," Intern. J. Adv. Manuf. Technol., Vol. 10, No. 6, pp. 427-434, 1995.
12.  Gogate Sachin and Lin Yueh-Jaw, "Formulation and control of robots with link and joint flexibility," Robotica, Vol. 11, No. 3, pp. 273-282, 1993.
13.  K. J Bathe and E. L. Wilson, Numerical Methods in Finite Element Analysis [Russian translation], Stroiizdat, Moscow, 1982.
14.  E. Hairer, S NÜrsett, and G Wanner, Solving Ordinary Differential Equations [Russian translation], Mir, Moscow, 1990.
15.  K. Dekker, J. Verwer, Stability of Runge-Kutta Methods for Stiff Nonlinear Differential Equations [Russian translation], Mir, Moscow, 1988.
16.  L. G. Loytsyanskii and A. I. Lur'e, Course in Theoretical Mechanics [in Russian], Volume 1, Nauka, Moscow, 1982.
Received 12 April 2001
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