Structural Engineering and Mechanics

  • 제62권5호
  • /
  • Pages.619-629
  • /
  • 2017
  • /
  • 1225-4568(pISSN)
  • /
  • 1598-6217(eISSN)
테크노프레스 (Techno-Press)
권호 표지
DOI QR코드

DOI QR Code

Large deformation modeling of flexible manipulators to determine allowable load

  • Esfandiar, Habib (Department of Mechanical Engineering, Firoozkooh Branch, Islamic Azad University) ;
  • Korayem, Moharam H. (Department of Mechanical Engineering, Iran University of Science and Technology) ;
  • Haghpanahi, Mohammad (Department of Mechanical Engineering, Iran University of Science and Technology)
  • 투고 : 2016.04.06
  • 심사 : 2017.01.05
  • 발행 : 2017.06.10
⟨ 이전 논문 다음 논문 ⟩

초록

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

키워드

참고문헌

  1. Aarts, R.G.K.M. and Jonker, J.B. (2002), "Dynamic simulation of planar flexible link manipulators using adaptive modal integration", Multi-body Syst. Dyn., 7(1), 31-50. https://doi.org/10.1023/A:1015271000518
  2. Ailon, A. (1998), "An approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters", The IEEE International Conference on Control Applications, 882-886.
  3. Bayo, E. (1989), "Timoshenko versus Bernoulli-Euler beam theories for inverse dynamics of flexible robots", Int. J. Robotics Automat., 4(1), 53-56.
  4. Beirao da Veiga, L., Lovadina, C. and Reali, A. (2012), "Avoiding shear locking for the Timoshenko beam problem via isogeometric collocation methods", Comput. Method. Appl. Mech. Eng., 241, 38-51.
  5. Desai, J.P. and Kumar, V. (1999), "Motion planning of nonholonomic cooperating mobile manipulators", J. Robotic Syst., 16(10), 557-579. https://doi.org/10.1002/(SICI)1097-4563(199910)16:10<557::AID-ROB3>3.0.CO;2-H
  6. Dmitrochenko, O. (2008), "Finite elements using absolute nodal coordinates for large deformation flexible multi-body dynamics", J. Comput. Appl. Math., 215(2), 368-377. https://doi.org/10.1016/j.cam.2006.04.063
  7. Dombrowski, S.V. (2002), "Analysis of large flexible body deformation in multi-body systems using absolute coordinates", Multi-body Syst. Dyn., 8(4), 409-432. https://doi.org/10.1023/A:1021158911536
  8. Dwivedy, S.K. and Eberhard, P. (2006), "Dynamic analysis of flexible manipulators, a literature review", Mechanism and Machine Theory, 41(7), 749-777. https://doi.org/10.1016/j.mechmachtheory.2006.01.014
  9. Fukuda, T., Fujisawa, Y., Muro, E., Hoshino, H., Otubo, K., Uehara, K., Kosuge, K., Arai, F. and Miyazaki, T. (1992), "Manipulator/vehicle system for man-robot cooperation", The IEEE international conference on robotics and automation, 74-79.
  10. Ghasempoor, A. and Sepehri, N. (1995), "A measure of stability for mobile based manipulators", The IEEE international conference on robotics and automation, 2249-2254.
  11. Huang, Q., Tanie, K. and Sugano, S. (2000), "Coordinated motion planning for a mobile manipulator considering stability and manipulation", Int. J. Robotic. Res., 19(8), 732-742. https://doi.org/10.1177/02783640022067139
  12. Iwai, R. and Kobayashi, N. (2003), "A new flexible multi-body beam element based on the absolute nodal coordinate formulation using the global shape function and the analytical mode shape function", Nonlinear Dyn., 34, 207-232. https://doi.org/10.1023/B:NODY.0000014560.78333.76
  13. Kim, J., Chung, W.K., Youm. Y. and Lee, B.H. (2002), "Real time ZMP compensation method using null motion for mobile manipulator", The IEEE international conference on robotics and automation, 1967-1972.
  14. Korayem, M.H. and Ghariblu, H. (2004), "The effect of base replacement on the dynamic load carrying capacity of robotic manipulators", Int. J. Adv. Manufact. Technol., 23(1-2), 28-38. https://doi.org/10.1007/s00170-002-1528-3
  15. Korayem, M.H., Haghpanahi, M. and Heidari, H.R. (2012), "Analysis of flexible mobile manipulators undergoing large deformation with stability consideration", Latin Am. Appl. Res., 42(2), 111-119.
  16. Korayem, M.H. and Basu, A. (1994), "Dynamic load carrying capacity of robotic manipulators with joint elasticity imposing accuracy constraints", Robot. Autonomous Syst., 13(3), 219-229. https://doi.org/10.1016/0921-8890(94)90037-X
  17. Korayem, M.H. and Heidari, A. (2007), "Maximum allowable dynamic load of flexible mobile manipulators using finite element approach", Int. J. Adv. Manufact. Technol., 36(9), 606-617.
  18. Korayem, M.H. and Shokri, M. (2008), "Maximum dynamic load carrying capacity of a 6 ups-Stewart platform manipulator", Scientia Iranica, 15(1), 131-143.
  19. Korayem, M.H., Ghariblu, H. and Basu, A. (2005), "Dynamic load-carrying capacity of mobile base flexible joint manipulators", Int. J. Adv. Manufact. Technol., 25(1), 62-70. https://doi.org/10.1007/s00170-003-1868-7
  20. Korayem, M.H., Haghpanahi, M. and Heidari, H.R. (2010), "Maximum allowable dynamic load of flexible manipulators undergoing large deformation", Scientia Iranica, 17(1), 61-74.
  21. Kubler, L., Eberthard, P. and Geisler, J. (2003), "Flexible multibody systems with large deformations and nonlinear structural damping using absolute nodal coordinates", Nonlinear Dyn., 34(1-2), 31-52. https://doi.org/10.1023/B:NODY.0000014551.75105.b4
  22. Lin, Y.J. and Gogate, S.D. (1989), "Modeling and motion simulation of an n-link flexible robot with elastic joints", The International Symposium on Robotics and Manufacturing, Santa Barbara, CA, 39-43.
  23. Liu, J., Hong, J. and Cui, L. (2007), "An exact nonlinear hybridcoordinate formulation for flexible multi-body systems", Acta Mechanica Sinica, 23(6), 699-706. https://doi.org/10.1007/s10409-007-0118-x
  24. Moosavian, S.A.A. and Alipour, K. (2006), "Stability evaluation of mobile robotic systems using moment- height measure", The IEEE International Conference on Robotics, Automation and Mechatronics, Bangkok, 1-6.
  25. Papadopoulos, E. and Ray, D. (1996), "A new measure of tip over stability margin for mobile manipulators", The IEEE international conference on robotics and automation, 3111-3116.
  26. Rakowski, J. (1990), "The interpretation the shear locking in beam elements", Comput. Struct., 37(5), 769-776. https://doi.org/10.1016/0045-7949(90)90106-C
  27. Shabana, A.A. (1998), "Computer Implementation of the absolute nodal coordinate formulation for flexible multi-body dynamics", Nonlinear Dyn., 16(3), 293-306. https://doi.org/10.1023/A:1008072517368
  28. Subudhi, B. and Morris, A.S. (2002), "Dynamic modeling, simulation and control of a manipulator with flexible links and joints", Robot. Autonomous Syst., 41(4), 257-270. https://doi.org/10.1016/S0921-8890(02)00295-6
  29. Sweet, L.M. and Good, M.C. (1984), "Re-definition of the robot motion control problem: effects of plant dynamics, drive systems, constraints and user requirement", The 23rd IEEE Conference on Decision and Control, Las Vegas, NV, 724-731.
  30. Thomas, M., Yuan-Chou, H.C. and Tesar, D. (1985), "Optimal actuator sizing for robotic manipulators based on local dynamic criteria", J Mech. Trans. Auto. Des., ASME, 107, 163-169. https://doi.org/10.1115/1.3258705
  31. Vallejo, D.G., Escalona, J.L., Mayo, J. and Dominguez, J. (2003), "Describing rigid-flexible multi-body systems using absolute coordinates", Nonlinear Dyn., 34(1), 75-94. https://doi.org/10.1023/B:NODY.0000014553.98731.8d
  32. Wang, L.T. and Ravani, B. (1988), "Dynamic load carrying capacity of mechanical manipulators - part I: Problem formulation", Trans. J. Dyn. Syst., Measure. Control, ASME, 110, 46-52. https://doi.org/10.1115/1.3152647
  33. Yang, G.B. and Donath, M. (1988), "Dynamic model of a two link robot manipulator with both structural and joint flexibility", The ASME 1 Winter Annual Meeting, Chicago, IL, 37-44.
  34. Yuan, K. and Lin, L. (1990), "Motor-based control of manipulators with flexible joints and links", Proceedings of the IEEE International Conference on Robotics and Automation, 1809-1814.
  35. Yue, S. and Tso, S.K. (2001), "Maximum dynamic payload trajectory for flexible robot manipulators with kinematic redundancy", Mech. Machine Theory, 36(6), 785-800. https://doi.org/10.1016/S0094-114X(00)00059-8
  36. Yue, S.G., Yu, Y.Q. and Bai, S.X. (1997), "Flexible rotor beam element for robot manipulators with link and joint flexibility", Mech. Machine Theory, 32(2), 209-219. https://doi.org/10.1016/S0094-114X(96)00045-6

피인용 문헌

  1. Nonlinear dynamics of flexible slender structures moving in a limited space with application in nuclear reactors vol.104, pp.4, 2021, https://doi.org/10.1007/s11071-021-06582-1