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The Dynamic Analysis Of Flexibility In Mobile Robotic Manipulator Systems
- In Proceedings of the Eighth World Congress on the Theory of Machines and Mechanisms
, 1990
"... Robotic manipulators mounted on vehicles are being considered for a number of applications. Since the dynamic performance of these systems is affected by the flexibility of their manipulators' and vehicles' suspensions, analytical methods are required to model their dynamic behavior. This paper pres ..."
Abstract
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Cited by 2 (1 self)
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Robotic manipulators mounted on vehicles are being considered for a number of applications. Since the dynamic performance of these systems is affected by the flexibility of their manipulators' and vehicles' suspensions, analytical methods are required to model their dynamic behavior. This paper presents an effective method that models such a system's spatial dynamic behavior by considering the nonlinear dynamic characteristics which result from its manipulator's gross motions, accounts for spatial vibrations due to the distributed mass and flexibility of manipulator and vehicle, and includes the effects of the manipulator's and vehicle's control systems. I. INTRODUCTION Robotic systems are being considered for a wide variety of applications outside their traditional factory uses, such as in space, undersea, in nuclear contaminated environments and in medical hospitals [1-4]. Robots need to be mobile for these applications, consisting of manipulators carried by vehicles. Since these m...
Dynamics Of Flexible Mechanical Systems With Parameter Stochasticity
"... Equations of motion for flexible multibody systems with model uncertainty are developed using the Lagrangian formulation. The dynamic model developed serves to exemplify systems which possess undesirable flexibility by representing it as a stochastic process. Further, a novel methodology for treatin ..."
Abstract
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Equations of motion for flexible multibody systems with model uncertainty are developed using the Lagrangian formulation. The dynamic model developed serves to exemplify systems which possess undesirable flexibility by representing it as a stochastic process. Further, a novel methodology for treating uncertainties in flexible systems is proposed. The method uses concepts from stochastic finite elements to address the problem of uncertain parameters in flexible mechanical systems. In particular, the problem of random bending rigidity of a flexible beam is studied. The spatial random process is represented using the Karhunen-Loeve expansion. The response process of the beam, comprising of large rotation and elastic vibration is expressed as a projection on the Homogeneous Chaos. Expressions for the response statistics, including the coupling between the elastic vibration and the large displacements are derived. Comparison of the results obtained with those from Monte-Carlo simulation sho...
