• Dynamic model of a single-link system with pretensioned cables is developed. Effect cable pretension investigated through von Kármán nonlinearity. Analytical formulation buckling load derived from dynamical modelling. Results ANSYS analysis are compared calculated results. Experimental verification link performed. This paper utilizes the extended Hamilton's principle to develop dynamic flexib...

BACKGROUND Robot-assisted anastomosis holds great promise for the future. To secure surgery quality, some key process factors, such as the force arrangement of sutures, should be provided because of the lack of haptic feedback in robotics systems METHODS A model of anastomosis is presented to establish the mechanical relationship between vessel and sutures. Stress distribution of the vessel l...

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linea...

To increase the efficiency of operation hopper car, it is proposed to improve by dividing body into two separate sections, which facilitates possibility transporting different types cargo. In order adapt car for transportation on railway ferries in international traffic, install its pivot beams knots fastening chain ties. Determination dynamic load load-bearing structure was performed mathemati...

The paper presents a new method for online identification of pay-loads for a two-link flexible robot. The method benefits from the close correspondence between parameters of a discrete-time model represented by means of the Delta-Operator, and those of the underlying continuous-time model. Although the applied principle might be general in nature, the paper is applied to the well-known problem ...

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-...

in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...

This paper presents a computationally efficient method for the modeling of robot manipulators with flexible links and joints. This approach combines the Discrete Time Transfer Matrix Method with the Finite Segment Method, in which the flexible links are discretized by a number of rigid segments connected by torsion springs; and the flexibility of joints are modeled by torsion springs. The propo...

Force control is very important for many practical manipulation tasks of robot manipulators, such as, assembly, grinding, deburring that associate with interaction between the end-effector of the robot and the environment. Force control of the robot manipulator can be break down into two categories: Position/Force Hybrid Control and Impedance Control. The former is focused on regulation of both...