We present a new method for motion planning and feedback control of three-link planar robot arms with a passive rotational third joint. These underactuated mechanical systems are shown to be fully linearizable and input-output decoupable by means of a nonlinear dynamic feedback, provided a physical singularity is avoided. The linearizing output is the position of the so-called center of percuss...

In this paper, an analytical formula to calculate the radial stiffness of groove elastic support is presented. The influence of structure parameters on radial stiffness and homogeneity of radial stiffness is investigated as well. The accuracy and calculating speed of the analysis formula are compared to that of finite element method (FEM). Findings are as following: The calculating speed of ana...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

This study concerns dynamic loading on the carrying structure of a flat car with elastic-friction longitudinal beams. The authors built mathematical model including vertical displacements in symmetrically loaded four 1 CC containers. was solved MathCad software. It found that maximum accelerations were about 2.0 m/s2. Thus, obtained within allowable values. presents results computer modeling lo...

An investigation into the effect of countersunk depth, plate thickness, countersunk angle and plate width on the stress concentration around countersunk hole is carried out with the help of finite element analysis. The variation of stress concentration with respect to these parameters is studied for three types of loading viz. uniformly distributed load, uniformly varying load and functionally ...

A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method used with Lagrangian formulation to obtain equations motion. Explicit motion are derived for a three-link case assuming two vibration each link. eigenvalue problem associated mass boundary conditions, which changes robot configuration and payload, discussed. time-domain simulation re...

Recently, a finite element formulation, called the absolute nodal coordinate formulation (ANCF), was proposed for the large rotation and deformation analysis of flexible bodies. In this formulation, absolute position and slope coordinates are used to define the finite element configuration. Infinitesimal or finite rotations are not used as nodal coordinates. The ANCF finite elements have many u...

This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a  vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...