شماره ركورد كنفرانس :
4560
عنوان مقاله :
Theoretical and Experimental Investigation of a Single-Link Elastic Manipulator System
Author/Authors :
M.H Korayem Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , A.M Shafei Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , B Kadkhodaei Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , F Absalan Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , A Azimi Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran , S.F Dehkordi Robotic Research Laboratory - Center of Excellence in Solid Mechanics and Dynamics - Department of Mechanical Engineering - Iran University of Science & Technology, Tehran
كليدواژه :
Damping , Gibbs-Appell , Timoshenko , Strain gauge
عنوان كنفرانس :
The International Conference on Experimental Solid Mechanics and Dynamics ۲۰۱۲
چكيده لاتين :
In this paper an investigation into the dynamic modeling of a single-link flexible manipulator system is presented. Dynamic model of the system is developed based on Gibbs-Appell (G-A) formulation and Assumed Mode Method (AMM). In this study, two important damping mechanisms, namely, the structural viscoelasticity effect and the viscous air effect have been considered. Also, to include the effects of shear and rotational inertia, the assumption of Timoshenko beam (TB) theory (TBT) has been applied. The result of computational simulation and experimental setup of a single-link flexible manipulator system is presented. In this experimental setup, servo motor operates in torque mode. Due to the input torque and rotational motion of the link, small deflections occurred over the link. Four strain gauges mounted in one section on both side of the link to record these small deflections. Finally, model validation carried out by comparing both experimental and theoretical results.
