This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

Finding the full load motion for a point-to-point task can maximize the productivity and economic usage of the mobile manipulators. The presented paper proposes a technique to determine the maximum allowable dynamic payload for flexible mobile manipulators along with the obtained optimal trajectories. Non-linear modeling of the mobile robotic manipulators by considering both link and joint flex...

  A new computational technique is presented to find the optimal base position of dual arm robots in order to carry maximum allowable load. The maximum allowable load on a desired trajectory is limited by the number of factors such as; actuators torque limits, kinematic constraints, and kinematic redundancy of cooperative manipulators. For a dual arm robot mounted on a rail or table, load works...

The broken bearings and great noise and vibration often occurs with the small sugarcane harvester transfer case when it starts up working. To analyze the startup status of the transfer case conveniently and quickly, the finite element transient structure analysis is carried out. with virtual prototype technology to simulate the transfer case's startup dynamic process and measure the instantaneo...

This paper focuses on parameter identification of a target tracker robot possessing flexible joints using particle swarm optimization (PSO) algorithm. Since, belt and pulley mechanisms are known as flexible joints in robotic systems, their elastic behavior affecting a tracker robot is investigated in this work. First, dynamic equations governing the robot behavior are extracted taking into acco...

Finite element method in pavement analysis is a type of mechanistic analysis that has widely been used by road and transportation engineers these days. This method is used with related programs such as ABAQUS/CAE which is one of the powerful software on this task. Modeling in this software has been developed from 2D static models to 3D dynamic models which are closer to reality due to the more ...

This paper presents the dynamic modelling of a flexible robot manipulator incorporating payload. A planar flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a finite element and assumed mode methods (FEM and AMM). In this work will make a comparison between FEM and AMM....

In this article, the multi-objective optimization of cylindrical aluminum tubes under axial impact load is presented.The absorbed energy and the specific absorbed energy (SEA) are considered as objective functions while the maximum crush load should not exceed allowable limit. The geometric dimensions of tubes including diameter, length and thickness are chosen as design variables. The Non-domi...

This paper presents a computational technique for determining the maximum allowable load of wheeled mobile manipulators for a desired trajectory. Full load motion of mobile manipulators while carrying a load is an important consideration in their application and motion planning. The number of factors limits the maximum allowable loads, which can be achieved by a mobile manipulator during a give...

Abstract: Thin-walled integrated flexible support structures are the major trend in the development of current rolling bearing technology. A thin-walled, integrated, squirrel-cage flexible support roller bearing, quasi-dynamic iterative finite element analysis (FEA) model is established in this paper. The FEA model is used to calculate the structural deformation of the thin-wall rings and suppo...