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Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints

Bien Xuan Duong 1, *
My Anh Chu 1
Khoi Bui Phan 2
  1. Military Technical Academy
  2. Ha Noi University of Science and Technology, Ha Noi
Correspondence to: Bien Xuan Duong, Military Technical Academy. Email: Nghiado@sci.edu.vn.
Volume & Issue: Vol. 20 No. K2 (2017) | Page No.: 42-50 | DOI: 10.32508/stdj.v20iK2.447
Published: 2017-06-30

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Copyright The Author(s) 2023. This article is published with open access by Vietnam National University, Ho Chi Minh city, Vietnam. This article is distributed under the terms of the Creative Commons Attribution License (CC-BY 4.0) which permits any use, distribution, and reproduction in any medium, provided the original author(s) and the source are credited. 

Abstract

Inverse dynamic problem analyzing of flexible link robot with translational and rotational joints is presented in this work. The new model is developed from single flexible link manipulator with only rotational joint. The dynamic equations are built by using finite element method and Lagrange approach. The approximate force of translational joint and torque of rotational joint are found based on rigid model. The simulation results show the values of driving forces at joints of flexible robot with desire path and errors of joint variables between flexible and rigid models. Elastic displacements of end-effector are shown, respectively. There are remaining issues which need be studied further in future work because the error joints variables in algorithm to solve inverse dynamic problem of flexible with translational joint has not been mentioned yet.

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