The industrial demand for high-performance and low energy consume has highlighted the need to develop lightweight manipulators and robots. However, their design and control result more difficult with respect to rigid-link robotic systems mainly due to the structural flexibility of the arms. To this end, the Equivalent Rigid-Link System (ERLS) approach for 3-D flexible link robots has been developed and, in this work, is considered in its recent developments. In particular, two recently published 3-D Equivalent Rigid-Link System formulations are discussed and compared by means of numerical simulations to highlight their strengths and possible weaknesses. The former deals with the Equivalent Rigid-Link System concept extension to spatial manipulators and robots through a Finite Element Method approach (ERLS-FEM), whereas the latter reformulates the model through a Component Mode Synthesis technique (ERLS-CMS). After the definition and discussion of the kinematic and dynamic equations, which account for the coupling between rigid-body and flexible-body motions, an extensive comparison is made. A benchmark manipulator is implemented and the formulations numerically compared in terms of accuracy and computational load under different input conditions.


    Access

    Download


    Export, share and cite



    Title :

    3-D ERLS based dynamic formulation for flexible-link robots: theoretical and numerical comparison between the Finite Element Method and the Component Mode Synthesis approaches


    Contributors:

    Publication date :

    2018-01-01


    Remarks:

    2-s2.0-85047834283


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629





    Formulation of Flexibility-Based Component Mode Synthesis for Transient Analysis

    Chung, In Seob / Kim, Jin-Gyun / Chae, Soo-Won et al. | AIAA | 2018


    A hybrid formulation of a component mode synthesis method

    FARHAT, CHARBEL / GERADIN, MICHEL | AIAA | 1992