THEORETICAL AND EXPERIMENTAL INVESTIGATION OF DYNAMIC LOAD CARRYING CAPACITY OF FLEXIBLE-LINK MANIPULATOR IN POINT-TO-POINT MOTION

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KARAMI NASIBEH; HABIB NEJAD KORAYEM MOHARRAM; SHAFEI ALI MOHAMMAD; RAFEE NEKOO SAEED

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:15 Page(s): 199-206

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Title

THEORETICAL AND EXPERIMENTAL INVESTIGATION OF DYNAMIC LOAD CARRYING CAPACITY OF FLEXIBLE-LINK MANIPULATOR IN POINT-TO-POINT MOTION

Author(s)

KARAMI NASIBEH | HABIB NEJAD KORAYEM MOHARRAM | SHAFEI ALI MOHAMMAD | RAFEE NEKOO SAEED | Issue Writer Certificate

Keywords

DYNAMIC LOAD CARRYING CAPACITY (DLCC)Q2

FLEXIBLE LINKQ2

GIBBS-APPELL FORMULATIONQ2

OPTIMAL CONTROLQ2

PONTRYAGIN'S MINIMUM PRINCIPLEQ2

Abstract

This paper presents the investigation of general formulation and numerical solution of the dynamic load carrying capacity (DLCC) of FLEXIBLE LINK manipulator. The proposed method is based on open loop OPTIMAL CONTROL problem. A two point boundary value problem (TPBVP) is taken from the PONTRYAGIN'S MINIMUM PRINCIPLE. The indirect approach is employed to derive optimality conditions. The system’s dynamics equation of motion is obtained from Gibbs-Appell (G-A) formulation and assumed mode method (AMM). Elastic properties of the links are modeled according to the assumption of Timoshenko beam theory (TBT) and its associated mode shapes. As TBT is more accurate compared with the Euler-Bernoulli beam theory, it is utilized for mathematical modeling of FLEXIBLE LINKs. The main contribution of the paper is to calculate the maximum allowable load of a FLEXIBLE LINK robot while an optimal trajectory is provided. Finally, the result of the simulation and experimental platform are compared for a two-link flexible arm to verify the introduced technique. The efficiency of the proposed method is illustrated by performing some simulation studies on the IUST FLEXIBLE LINK manipulator. Simulation and experimental results confirm the validity of the claimed capability for controlling point-to-point motion of the proposed method and its application toward DLCC calculation.

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APA: Copy

KARAMI, NASIBEH, HABIB NEJAD KORAYEM, MOHARRAM, SHAFEI, ALI MOHAMMAD, & RAFEE NEKOO, SAEED. (2015). THEORETICAL AND EXPERIMENTAL INVESTIGATION OF DYNAMIC LOAD CARRYING CAPACITY OF FLEXIBLE-LINK MANIPULATOR IN POINT-TO-POINT MOTION. MODARES MECHANICAL ENGINEERING, 14(15), 199-206. SID. https://sid.ir/paper/177696/en

Vancouver: Copy

KARAMI NASIBEH, HABIB NEJAD KORAYEM MOHARRAM, SHAFEI ALI MOHAMMAD, RAFEE NEKOO SAEED. THEORETICAL AND EXPERIMENTAL INVESTIGATION OF DYNAMIC LOAD CARRYING CAPACITY OF FLEXIBLE-LINK MANIPULATOR IN POINT-TO-POINT MOTION. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(15):199-206. Available from: https://sid.ir/paper/177696/en

IEEE: Copy

NASIBEH KARAMI, MOHARRAM HABIB NEJAD KORAYEM, ALI MOHAMMAD SHAFEI, and SAEED RAFEE NEKOO, “THEORETICAL AND EXPERIMENTAL INVESTIGATION OF DYNAMIC LOAD CARRYING CAPACITY OF FLEXIBLE-LINK MANIPULATOR IN POINT-TO-POINT MOTION,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 15, pp. 199–206, 2015, [Online]. Available: https://sid.ir/paper/177696/en

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