Dynamic modelling and simulation of planar flexible-link robots with elastic rotational restraints at the Joint-Link couplings

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1 Citation (Scopus)

Abstract

This paper presents the dynamic model of multilink flexible robot with elastic rotational restraints at the joint-link coupling. The proposed approach is flexible as it can mimic the classic clamped case model considering an infinite hinge rotational stiffness coefficient. The particular case of flapping motion is also a degenerate case of the proposed model where the stiffness coefficient is almost zero. Considering that most joint- link couplings are subject to some degree of elastic deformation, the proposed approach is flexible and suitable for modelling multilink flexible robots. Simulations were conducted to assess the effect of the elastic rotational constraints at the actuator gearhead shaft- link couplings. The simulation results demonstrated that the magnitudes of the relative motion at the actuator gearhead shaft- link couplings have a substantial influence on the vibration frequency of the planar flexible- link robot tip.

Original languageEnglish
Pages588-600
Number of pages13
Publication statusPublished - 2018
Event11th South African Conference on Computational and Applied Mechanics, SACAM 2018 - Vanderbijlpark, South Africa
Duration: 17 Sept 201819 Sept 2018

Conference

Conference11th South African Conference on Computational and Applied Mechanics, SACAM 2018
Country/TerritorySouth Africa
CityVanderbijlpark
Period17/09/1819/09/18

Keywords

  • Coupling
  • Hinge
  • Multilink
  • Rotational
  • Stiffness

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computational Mechanics

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