چكيده لاتين :
In this paper a general formulation for finding the maximum allowable
dynamic load (MADL) of flexible link mobile manipulators is presented. The
main constraints used for the algorithm presented are the actuator torque
capacity and the limited error bound for the end-effector during motion on
the given trajectory. The precision constraint is taken into account with two
boundary lines in plane which are equally offset due to the given end-effector
trajectory, while a speed-torque characteristics curve of a typical DC motor
is used for applying the actuator constraint. Finite element method (FEM)
is utilized for deriving the kinematic and dynamic equations which considers
the full nonlinear dynamic of mobile manipulator. In order to verify the
effectiveness of the presented algor-ithm, two simulation studies considering a
flexible two-link planar manipulator mounted on a mobile base are presented
and the results are discussed.
