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Joints flexibility effect on the dynamic performance of robots

Published online by Cambridge University Press:  08 April 2014

Mohamed H. Zaher  and
Said M. Megahed
Mohamed H. Zaher*
Affiliation:
Mechanical Design and Production Engineering Department, Cairo University, Giza 12613, Egypt
Said M. Megahed
Affiliation:
Mechanical Design and Production Engineering Department, Cairo University, Giza 12613, Egypt
*
*Corresponding author. E-mail: mhzaher@asme.org
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Summary

This paper studies the effect of joint flexibility on the dynamic performance of a serial spatial robot arm of rigid links. Three models are developed in this paper. The first and the third models are developed using the multibody dynamics approach, while the second using the classical robotics approach. A numerical algorithm and an experimental test-rig are developed to test the final model. The links' inertial parameters are estimated numerically. Empirical formulae with assumption models are used to estimate the flexibility coefficients. The simulation results show that the joint damping is a major source of inaccuracies, causing trajectory error without a proper feedback controller.

Keywords

Flexible jointRobotMultibodyModelingKinematically constrained dynamic system simulationDenavit–Hartenberg

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 7 , August 2015 , pp. 1424 - 1445
Copyright
Copyright © Cambridge University Press 2014 

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