|
|||
|---|---|---|---|
Application of Timoshenko Beam Theory for Deriving
Motion Equations of a Lightweight Elastic Link Robot Manipulator
Abstract:
M. Loudini*-**, D. Boukhetala**, M. Tadjine**, M. A. Boumehdi* *Institut National d'Informatique BP 68M, 16270 Oued Smar, El Harrach, Algiers, Algeria **Ecole Nationale Polytechnique, Laboratoire de Commande des Processus 10, avenue Hassan Badi, BP 182, 16200 El Harrach, Algiers, Algeria The purpose of this paper is to describe the application of the Timoshenko beam theory (TBT) to the mathematical modelling of a planar one link elastic robot manipulator clamped at its actuated base and carrying a payload at its end-point. The emphasis has been set on obtaining accurate and complete equations of motion that display the most relevant aspects of structural properties inherent to the modelled lightweight elastic link. In particular, two important damping mechanisms: external viscous air damping and internal structural viscoelasticity effect (Kelvin-Voigt) have been included in addition to the classical effects of shearing and rotational inertia of the elastic link cross-section. Gravity, torsion, and extensional deformation effects have been neglected. Numerical simulations are performed to show the free vibrational behaviour of the modelled system. Keywords: Robotic manipulators, Elastic arm, Modelling, PDE Model, Timoshenko beam theory, Lagrange-Assumed modes method. (
BibTex: @ARTICLE{P1130615001, AUTHOR = {M. Loudini and D. Boukhetala and M. Tadjine and M. A. Boumehdi}, TITLE = {Application of Timoshenko Beam Theory for Deriving Motion Equations of a Lightweight Elastic Link Robot Manipulator}, JOURNAL = {ICGST International Journal on Automation, Robotics and Autonomous Systems}, YEAR = {2006}, VOLUME = {05}, ISSUE={II}, PAGES={11--18} } ( |
|||
|
