WOS: 000254447300012 ; In this study, mathematical modelling and dynamic response of a flexible robot manipulator with rotating-prismatic joint are investigated. The tip end of the flexible robot manipulator traces a multi-straight-line path under the action of an external driving torque and an axial force. Considered robot manipulator consists of a rotating prismatic joint and a sliding flexible arm with a tip mass. Flexible arm is assumed to be an Euler-Bernoulli beam carrying an end-mass. Equations of motion of the flexible manipulator are obtained by using Lagrange's equation of motion. Effect of rotary inertia, axial shortening and gravitation is considered in the analysis. Equations of motion are solved by using fourth order Runge-Kutta method. Numerical simulations obtained by using a developed computer program are presented and physical trend of the results are discussed. (c) 2007 Elsevier Inc. All rights reserved.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Mathematical modelling and dynamic response of a multi-straight-line path tracing flexible robot manipulator with rotating-prismatic joint



    Erscheinungsdatum :

    2008-01-01


    Anmerkungen:

    1098



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Design, Simulation, and Control of an Elastic Manipulator with a Prismatic Joint

    Buffinton, K. W. / Parker, C. F. / Canadian Society for Mechanical Engineering | British Library Conference Proceedings | 1992


    Design, Simulation, and Control of an Elastic Manipulator with a Prismatic Joint

    Buffinton, K. W. / Parker, C. F. / Canadian Society for Mechanical Engineering | British Library Conference Proceedings | 1992


    Control of Human-Robot Interaction Flexible Joint Lightweight Manipulator Based Joint Torque Sensors

    Xiong, Gen-Liang / Chen, Hai-Chu / Zhang, Rui-Hua et al. | Tema Archiv | 2011


    Control of Human-Robot Interaction Flexible Joint Lightweight Manipulator Based Joint Torque Sensors

    Xiong, Gen Liang ;Chen, Hai Chu ;Zhang, Rui Hua | Trans Tech Publications | 2011


    Control for a Hydraulically Actuated Flexible-Prismatic Link Robot

    Love, L. / Kress, R. / Jansen, J. | British Library Online Contents | 1998