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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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Article Details

Issue: Vol 20 No K2 (2017)
Page No.: 42-50
Published: Jun 30, 2017
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v20iK2.447

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Duong, B., Chu, M., & Phan, K. (2017). Inverse dynamic analyzing of flexible link manipulators with translational and rotational joints. Science and Technology Development Journal, 20(K2), 42-50. https://doi.org/https://doi.org/10.32508/stdj.v20iK2.447

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