پديدآورندگان :
dehkordi S. F. S_fathollahidehkordi@mecheng.iust.ac.ir Ph.D. Candidate, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran; , jamshidi M. R. Graduate Student , Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , mojarradi M. Graduate Student, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , monfared P. Graduate Student, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , korayem M. H. Professor, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran
كليدواژه :
Flexible Manipulator , Gibbs , Appell Formulation , Revolute , Prismatic Joints , IUST R , P Joints Setups.
چكيده فارسي :
In this paper, the motion equation of flexible revolute-prismatic joints manipulator was derived and verified by the IUST robotic laboratory experimental setup. The system in comparison to previous ones has two main differences: (1) The flexible part of the system vary with respect to time, (2) Each arm contain two part; rigid hubs with only rotational motion and the flexible part, slide through the hubs. Links have both rotation and reciprocation absolute motions. Furthermore, the Experimental setups designed and manufactured in IUST robotic laboratory, for presenting the idea in real world. Finally, the results concluded from software simulation compared with the experimental system to evaluate the model precision.
