ACCURATE MODELING OF FLEXIBLE MANIPULATORS USING FINITE-ELEMENT ANALYSIS

被引：22
作者：
KALRA, P
SHARAN, AM
机构：
[1] Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John's
来源：
MECHANISM AND MACHINE THEORY | 1991年 / 26卷 / 03期
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1016/0094-114X(91)90071-B
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The dynamic equations of flexible manipulators have been formulated using the Galerkin's method. The forces on the deformed links have been resolved along the link coordinate axes which results in the C1 continuity in both the axial and transverse directions. The axial strains are used as one of the nodal coordinates in the finite element equation.
引用
收藏
页码：299 / 313
页数：15
相关论文
共 12 条
[1]  
BOOK WJ, 1984, INT J ROBOT RES, V3, P87, DOI 10.1177/027836498400300305
[2]   A RECURSIVE LAGRANGIAN FORMULATION OF MANIPULATOR DYNAMICS AND A COMPARATIVE-STUDY OF DYNAMICS FORMULATION COMPLEXITY [J].
HOLLERBACH, JM .
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1980, 10 (11) :730-736
[3]  
LEE CGS, 1983, 22ND P C DEC CONTR S
[4]  
LUH JYS, 1980, T ASME, V120, P69
[5]   FINITE-ELEMENT APPROACH TO MATHEMATICAL-MODELING OF HIGH-SPEED ELASTIC LINKAGES [J].
MIDHA, A ;
ERDMAN, AG ;
FROHRIB, DA .
MECHANISM AND MACHINE THEORY, 1978, 13 (06) :603-618
[6]   COUPLING EFFECTS OF KINEMATICS AND FLEXIBILITY IN MANIPULATORS [J].
NAGANATHAN, G ;
SONI, AH .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1987, 6 (01) :75-84
[7]  
SEGERLIND LJ, 1976, APPLIED FINITE ELEME, pCH17
[8]  
Silver W.M., 1982, INT J ROB RES, V1, P60, DOI [10.1177/027836498200100204, DOI 10.1177/027836498200100204]
[9]   THE APPLICATION OF FINITE-ELEMENT METHODS TO THE DYNAMIC ANALYSIS OF FLEXIBLE SPATIAL AND CO-PLANAR LINKAGE SYSTEMS [J].
SUNADA, W ;
DUBOWSKY, S .
JOURNAL OF MECHANICAL DESIGN-TRANSACTIONS OF THE ASME, 1981, 103 (03) :643-651
[10]   ON THE DYNAMIC ANALYSIS AND BEHAVIOR OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS [J].
SUNADA, WH ;
DUBOWSKY, S .
JOURNAL OF MECHANISMS TRANSMISSIONS AND AUTOMATION IN DESIGN-TRANSACTIONS OF THE ASME, 1983, 105 (01) :42-51
12