Dynamic Analysis of Planar Revolute type Multilink Robots with Flexible Joints

Generally Kinematic and Dynamic analysis of robots are performed without modeling the flexibility of kinematic Joints, because of which the results obtained are not accurate. For better analysis and control the correct estimation and inclusion of joint effects is imminent. This paper attempts to determine the effect of joint flexibility on two link manipulator when the end effector moves in a predetermined path (straight line). The joint is considered flexible and the link is assumed to be rigid. The mathematical model so developed is found to be highly non-linear, therefore numerical solutions based on Taylor series approximation were developed. Flexibility in the joint is assumed as a combination of dampers and springs.The two links of RevoluteRevolute Type of Planar robot with revolute joints with specified dimensions is built in the ADAMS software and is made to follow a specified end effector motion i.e. (straight line) for a given time period. The joint displacements so found are used as the inputs to calculate the respective torques developed using MATLAB software. The obtained results are tabulated and compared to provide information on the effectiveness of flexibility.