Analysis of Dynamic Stress and Fatigue Property of Flexible Robots

Author

Zhao-cai, Du ; Yue-qing, Yu ; Li-ying, Su

Author_Institution

Coll. of Mech. Eng., Beijing Univ. of Technol., Beijing

fYear

2006

fDate

17-20 Dec. 2006

Firstpage

1351

Lastpage

1355

Abstract

The analysis of fatigue property was incorporated into the research on dynamic stress of flexible robots. The relation between elastic deformations and elastic displacements of the flexible planar robot was investigated. The elastic deformations of links were calculated. The dynamic stress on any position of the links was derived. The fatigue failure due to the alternate dynamic stresses was analysed. The fatigue lives of the links were predicted based on the cumulative damage rule. The importance of dynamic stress analysis was well illustrated through the numerical simulation of a flexible planar 3-RRR parallel robot. The dynamic stress analysis is demonstrated to have significant impact on the design and control of flexible robots.

Keywords

elastic deformation; fatigue; flexible manipulators; robot dynamics; elastic deformations; elastic displacements; fatigue failure dynamic stress analysis; flexible planar robot; flexible robots dynamic stress; flexible robots fatigue property; Educational institutions; Failure analysis; Fatigue; Humanoid robots; Mechanical engineering; Mechanical factors; Medical robotics; Robot control; Robot sensing systems; Stress control; dynamic stress; fatigue property; flexible robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on

Conference_Location

Kunming

Print_ISBN

1-4244-0570-X

Electronic_ISBN

1-4244-0571-8

Type

conf

DOI

10.1109/ROBIO.2006.340125

Filename

4142062