Title :
Modeling of a flexible link having a prismatic joint in robot mechanism-experimental verification
Author :
Yuh, J. ; Young, T. ; Baek, Y.S.
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
A dynamic model of the link, which has rotational and translation motion, is derived using a Lagrangian equation. The validity of the model is investigated by comparing the results of computer simulation to experimental results for a single-link arm. For the experiment, a two-degree-of-freedom flexible robot arm was built, and tip deflections of the arm were observed by double integrating tip-acceleration measurements
Keywords :
dynamics; robots; double integrating tip-acceleration measurements; dynamics; flexible link; prismatic joint; robot mechanism; rotational motion; single-link arm; tip deflections; translation motion; two-degree-of-freedom flexible robot arm; Computer simulation; Equations; Lagrangian functions; Manipulators; Mechanical engineering; Orbital robotics; Robots; Space vehicles; Structural beams; Vibrations;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100070
