Study on the Effect of Link Flexibility on Tip Position of a Single Link Robotic Arm

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Study on the Effect of Link Flexibility on Tip Position of a Single Link Robotic Arm

July 8, 2021 Engineering 0

Flexible robots, as opposed to traditional industrial rigid link robots, are frequently used in space applications due to their quick reaction, low energy consumption, smaller total mass, and high speed operation. Because these robots are inherently flexible, their kinematics cannot be solved using rigid body assumptions. The flexibility of the robot’s links and joints influences its end-point positioning accuracy. It is critical to accurately model the link kinematics, which simplifies the modeling of the dynamics of flexible robots. The primary goal of this article is to investigate how link extensibility influences the tip location of a single link robotic arm during a specific motion. Only link flexibility is considered because the joint is assumed to be rigid. The Assumed Modes Method (AMM) is used in MATLAB programming to evaluate the kinematics of a flexible link problem. The normalized tip deviation for a flexible link with respect to a rigid link is found to evaluate the effect of link flexibility (with and without payload) of a robotic arm. Finally, if the allowable tip deviation is 5%, the limiting inertia for payload mass is determined.

Author (s) Details

Assistant Professor E. Madhusudan Raju
Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telengana, 500007, India.

Dr. L. Siva Rama Krishna
Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telengana, 500007, India.

Y. Sharath Chandra Mouli
Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telengana, 500007, India.

V. Nageswara Rao
Department of Mechanical Engineering, University College of Engineering, Osmania University, Hyderabad, Telengana, 500007, India.

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