شماره ركورد كنفرانس
3770
عنوان مقاله
Experimental Evaluation of Revolute-Prismatic Joints Manipulator with Flexible Links Modeled by Recursive Gibbs-Appell Formulation
پديدآورندگان
dehkordi S. F. S_fathollahidehkordi@mecheng.iust.ac.ir Ph.D. Candidate, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran; , jamshidi M. R. Graduate Student , Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , mojarradi M. Graduate Student, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , monfared P. Graduate Student, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran , korayem M. H. Professor, Department of Mechanical Engineering, Iran University of Science and Technology (IUST), Tehran, 16846-13114, Iran
تعداد صفحه
2
كليدواژه
Flexible Manipulator , Gibbs , Appell Formulation , Revolute , Prismatic Joints , IUST R , P Joints Setups.
سال انتشار
1396
عنوان كنفرانس
چهارمين كنفرانس بين المللي دو سالانه مكانيك جامدات تجربي
زبان مدرك
انگليسي
چكيده فارسي
In this paper, the motion equation of flexible revolute-prismatic joints manipulator was derived and verified by the IUST robotic laboratory experimental setup. The system in comparison to previous ones has two main differences: (1) The flexible part of the system vary with respect to time, (2) Each arm contain two part; rigid hubs with only rotational motion and the flexible part, slide through the hubs. Links have both rotation and reciprocation absolute motions. Furthermore, the Experimental setups designed and manufactured in IUST robotic laboratory, for presenting the idea in real world. Finally, the results concluded from software simulation compared with the experimental system to evaluate the model precision.
كشور
ايران
لينک به اين مدرک