Title :
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
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;
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
DOI :
10.1109/ROBIO.2006.340125
