Elastic manipulator

This paper presents the approach of building a mathematical model for a parallel robotic manipulator with flexible links and elastic joints. The links to the base are assumed to be rigid bodies, and the thin connecting rods are assumed to be flexible links

16p viwolverine 11-07-2023 4 2   Download

In this article, the nonlinear dynamic modeling and tip control methodology for a single flexible link manipulator are presented. In Lagrange approach, the nonlinear modeling is built based on finite element method (FEM) so that the elastic displacements effects of elements of the whole dynamic system can be included.

5p vispyker 16-11-2022 10 1   Download

In this article, nonlinear dynamic modeling and investigation into the effects of different driving rules on dynamic behavior of a single flexible link manipulator are presented. Dynamic equations are derived from finite element method based on Lagrange approach.

5p vispyker 16-11-2022 8 2   Download

In this paper, using the definition on partial derivative of a matrix with respect to a vector and Kronecker product [7–9], the formulae of Taylor expansion according to a vector x for scalar functions, vector functions and matrix functions will be built and demonstrated. An applied example regarding the l

12p nguaconbaynhay11 07-04-2021 13 2   Download

Due to material savings and acceleration time reduction, robotic manipulators are designed to be more slender. Therefore, the elasticity of the links should be taken into account in the dynamic study and control design. This paper concerns modeling and control of a single flexible manipulator (SFM).

12p vidonut2711 08-11-2019 16 0   Download

This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in-orbit operations.

13p viconandoyle2711 29-08-2019 20 1   Download

This paper presents a control structure for orbital servicing mission of CEASAR robotic arm developed by German Aerospace Center (DLR). In order to reduce mass the CEASAR arm is equipped with Harmonic-Drives with high ratio which unfortunately lead to high joint elasticity and high motor friction and have to be considered in controller design for successful manipulator in-orbit operations.

13p thuyliebe 05-10-2018 34 1   Download

In this paper, a nonlinear dynamic modeling and control of flexible link manipulator with rigid translational and rotational joints is presented. This model TR (Translational-Rotational) is developed based on single flexible link manipulator with only rotational joint. Finite element method and Lagrange approach are used to model and build equations of the motion. PID controller is designed with parameters (Kp, Ki, Kd) which are optimized by using Particle Swarm Optimization algorithm (PSO).

15p truongtien_09 08-04-2018 29 0   Download

About 400 years ago, the invention of telescopes and microscopes not only extended our sense of seeing but also revolutionized our perception of the world. Extending this perception further and further has since been the driving force for major scientific developments. Local probe techniques extend our sense of touching into the micro- and nanoworld and in thisway provide complementary newinsight into theseworlds with microscopic techniques.

430p nhatkyvodanh 11-08-2012 50 2   Download

The term ‘cooperative system’ is generally understood as several coordinated participants simultaneously engaged in the execution of a given task. In robotics, for example, the term cooperative system is understood as a manipulation system (Figure 1). The cooperation participants and the object may be either rigid or elastic. Rigid cooperators and objects are those that undergo deformation at an infinite load.

297p beobobeo 01-08-2012 73 13   Download