DocumentCode
2542708
Title
Dynamic response analysis of 2-R robot with flexible joints
Author
Dado, Mohammad H F ; Son, A.H.
Author_Institution
Oklahoma State University, Stillwater, Oklahoma, USA
Volume
4
fYear
1987
fDate
31837
Firstpage
479
Lastpage
483
Abstract
In this study the dynamic response of a planar 2-R robot with flexible joints is investigated. Servo stiffness and damping are modeled along with the stiffness and material damping of the drive system. The total system equations are derived and solved for three numerical examples. It is shown that the servo damping plays an important role in the dynamic behavior of the system. Future studies in this subject are discussed.
Keywords
Damping; Dynamic equilibrium; Equations; Manipulator dynamics; Mathematical model; Robots; Servomechanisms; Servomotors; Shafts; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088052
Filename
1088052
Link To Document