 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12882 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8071
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| In English (Mech. Solids): | | 4811 |
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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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|
| Received |
12 April 2001 |
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