A New Robot Design to Passively Damp Flexible Robotic Arms
نویسندگان
چکیده
This paper presents a hardware configuration for a long reach robotic arm in which passive dampers eliminate unwanted oscillation. This paper derives and reduces the equations of motion for the proposed configuration; then develops a "realistic" design. Using a single degree of freedom approximation, the paper presents and experimentally verifies equations for the dominant natural frequency and damping ratio. The paper demonstrates that the equations are good predictors of dynamic response for a large set of robots. The design is verified via experiment.
منابع مشابه
A New Robot Design to Passively Damp Flexible Robotic Arms By
Submitted to the robotics symposium.
متن کاملModeling Flexibility Effects in Robotic Arms Via the Modified 4x4 D-H Homogeneous Transformation
This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
متن کاملPlanning Arm with 5 Degrees of Freedom for Moving Objects Based on Geometric Coordinates and Color
Skilled mechanical arms of consanguine relationship formed by joints the relative motion of the adjacent interfaces enable, have been connected. Ability to perform a variety of pre-programmed robotic manipulator in various industries. Skilled mechanical arms in recent years as a significant progress has been completed. House repair and easier to work with them as well and fit and optimal relati...
متن کامل