Dynamic Stress Analysis of Flexible Planar Robots

Author

Zhaocai, Du ; Yueqing, Yu

Author_Institution

Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol.

fYear

2006

fDate

25-28 June 2006

Firstpage

1186

Lastpage

1190

Abstract

The relation between the elastic deformations and the elastic displacements of the links of flexible planar robots is investigated. The elastic deformations of links are calculated. The kineto-elastodynamics theory in conjunction with Timoshenko beam theory is employed to derive the maximal dynamic stress of the links and its position, considering the effects of bending-shearing strain and tensile-compression strain. The purpose of dynamic stress analysis is well illustrated through the numerical simulation. Compared with the results of SAMCEF software simulation, the numerical simulation results show good coherence and advantages of the method. The dynamic stress analysis is demonstrated to have significant impact on the design and control of flexible robots

Keywords

bending; elastic deformation; elastodynamics; robot dynamics; robot kinematics; shearing; stress analysis; Timoshenko beam theory; bending-shearing strain; dynamic stress analysis; elastic deformations; elastic displacements; flexible planar robots; kineto-elastodynamics theory; tensile-compression strain; Educational institutions; Manipulator dynamics; Mechanical engineering; Numerical simulation; Process design; Robot control; Robotics and automation; Stress control; Tensile strain; Tensile stress; Kineto-Elastodynamics; dynamic stress; flexible robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on

Conference_Location

Luoyang, Henan

Print_ISBN

1-4244-0465-7

Electronic_ISBN

1-4244-0466-5

Type

conf

DOI

10.1109/ICMA.2006.257794

Filename

4026254