|
CSME 2023/03
Volume 44 No.1
:
37-48
|
|
Mathematical Modeling of Flexible Robot Manipulators with Slender Links – a Lumped Parameter Approach
Chung-Chan Hsua, Hao-Lun Huanga, Chang-Fu Lua and Ming-Yang Chenga
aDepartment of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan 701, ROC.
|
Abstract:
Robot manipulators with flexible links aremade of light materials with low rigidity/stiffness. Onone hand, low rigidity makes the flexible robotmanipulator safer than the rigid robot manipulatorduring operation. On the other hand, low rigidity alsoresults in vibration occurring at the endpoint of theflexible link. As a result, the motion accuracy of theflexible robot manipulator is often much worse thanthat of the rigid robot manipulator. One effective wayto deal with the vibration problem is to design amodel-based control scheme. Consequently, thispaper aims at conducting an in-depth study on thederivation of the mathematical model of the flexiblerobot manipulator with slender links made of uniformmaterials. In particular, the Euler-Bernoulli equation,the Euler-Lagrange equation, and the lumpedparameter method are employed in deriving themathematical model. Several experiments andcomputer simulations have been conducted.Experimental results indicate that the discrepancybetween the natural frequency obtained from the realsingle-link flexible robot manipulator and that of themathematical model derived using the proposedapproach is very small. In addition, results ofcomputer simulations verify the effectiveness of theproposed approach.
|
|
Keywords: Flexible Robot Manipulator, Euler- Bernoulli Equation, Euler-Lagrange Equation, Lumped Parameter Method.
|
Download PDF
|
|
*Corresponding author; e-mail:
|
©
2023
CSME , ISSN 0257-9731
|