AN ALGORITHM FOR DESIGN OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS

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KORAYEM M.H.; KAZEMI SH.

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Journal Paper

Paper Information

Journal: INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING & PRODUCTION RESEARCH Year:2003 | Volume:14 | Issue:3 Page(s): 1-16

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Information Journal Paper

Title

AN ALGORITHM FOR DESIGN OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS

Author(s)

KORAYEM M.H. | KAZEMI SH.

Keywords

ELASTIC MANIPULATOR

DESIGN

ALGORITHM

ROBOT

Abstract

Abstract: The main aim of this study is to provide an algorithm for design of flexible manipulators. The distributed-lumped arm was modeled by means of transfer matrix method In this model gross motions and small motions was separated in frequency domain: This model is capable of providing us with useful information on naturalfrequencies, eigenvalues, frequency response, modal shapes and impulse response in deflection, slope, moment and shear force state variables. The above mentioned information was used to study arms with two links or one link with lumped mass. This study shows the limitations caused by arm flexibility over joint control and operation of the arm. Stiffness and strength constraints are taken into observed simultaneously. An algorithm isproposed to design the flexible arm. This algorithm combines the geometry, material and task of the arm for optimal operation.Finally, a computer program is developed and used to display the extensive analysis information in a compactform.

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APA: Copy

KORAYEM, M.H., & KAZEMI, SH.. (2003). AN ALGORITHM FOR DESIGN OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), 14(3), 1-16. SID. https://sid.ir/paper/556354/en

Vancouver: Copy

KORAYEM M.H., KAZEMI SH.. AN ALGORITHM FOR DESIGN OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS. INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH)[Internet]. 2003;14(3):1-16. Available from: https://sid.ir/paper/556354/en

IEEE: Copy

M.H. KORAYEM, and SH. KAZEMI, “AN ALGORITHM FOR DESIGN OF INDUSTRIAL ROBOTIC MANIPULATORS WITH ELASTIC MEMBERS,” INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE (ENGLISH), vol. 14, no. 3, pp. 1–16, 2003, [Online]. Available: https://sid.ir/paper/556354/en

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