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Numerical Analysis of Robotic Manipulator Subject to Mechanical Flexibility by Lagrangian Method

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Proceedings of the National Academy of Sciences, India Section A: Physical Sciences Aims and scope Submit manuscript

Abstract

In this work, a systematic approach is presented for the development of dynamic equations of motion of a robot manipulator with mechanical flexibility. A simple structural lightweight rotating manipulator with joint elastic flexibility is considered for the mechanical flexibility study. The complexity of mathematical equations involved in mechanical flexibility is analyzed. The analytical approach helps the design for controls of flexible manipulator. A set of decoupled dynamic equations are derived incorporating both the structural and joint flexibility. The dynamic equations are compared with a detailed model, and the results are showing that equations are accurate for small joints. Also the results from the simulation show that in a flexible joint system, there is no rigid mode.

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Abbreviations

ANN:

Artificial neural network

RMSE:

Root mean square error

AMM:

Assumed mode method

FEM:

Finite element method

MADL:

Maximum allowable dynamic load

DOF:

Degrees of freedom

MATLAB:

Math’s laboratory

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Authors and Affiliations

  1. Department of Mechanical Engineering, B.S. Abdur Rahman University School of Mechanical Sciences, Chennai, India

    Ramalingam Sengalani & S. Rasool Mohideen

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  1. Ramalingam Sengalani
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  2. S. Rasool Mohideen
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Correspondence to Ramalingam Sengalani.

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Sengalani, R., Rasool Mohideen, S. Numerical Analysis of Robotic Manipulator Subject to Mechanical Flexibility by Lagrangian Method. Proc. Natl. Acad. Sci., India, Sect. A Phys. Sci. 90, 503–513 (2020). https://doi.org/10.1007/s40010-019-00619-2

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  • DOI: https://doi.org/10.1007/s40010-019-00619-2

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