With the Timoshenko beam theory and the Finite Element Method, the dynamic equation of planar cooperative manipulators with link flexibility is proposed in absolute coordinates. Taking the actual position of the mass center of the cooperated object as the boundary condition, the inverse dynamic equation is developed with the load distribution method. With the solution of the inverse dynamic equations, the cooperated object can track a given trajectory accurately and the errors between the actual internal forces and the specified internal forces on the cooperated manipulators converge to zero. A new method is also developed for the optimum load distribution and load capacity of cooperative manipulator system. A numerical simulation of two planar flexible robot arms manipulating a rigid load is presented.
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Technical Papers
Dynamic Analysis of Planar Cooperative Manipulators With Link Flexibility*
Cheng-Xin Zhang,
Cheng-Xin Zhang
College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China
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Yue-Qing Yu
e-mail: yqyu@bjut.edu.cn
Yue-Qing Yu
College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China
Search for other works by this author on:
Cheng-Xin Zhang
College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China
Yue-Qing Yu
College of Mechanical Engineering & Applied Electronics, Beijing Polytechnic University, Beijing 100022, P. R. of China
e-mail: yqyu@bjut.edu.cn
Contributed by the Design Automation Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received July 2001; revised September 2003. Associate Editor: H. M. Laukarani.
J. Mech. Des. May 2004, 126(3): 442-448 (7 pages)
Published Online: September 1, 2003
Article history
Received:
July 1, 2001
Revised:
September 1, 2003
Citation
Zhang , C., and Yu, Y. (September 1, 2003). "Dynamic Analysis of Planar Cooperative Manipulators With Link Flexibility." ASME. J. Mech. Des. May 2004; 126(3): 442–448. https://doi.org/10.1115/1.1701875
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