Title :
Study and validation testing of the dynamics of a robotic system with flexible links and joints
Author :
Santos, Thomas ; Zhaoheng Liu ; Hazel, Bruce
Author_Institution :
Dept. of Mech. Eng., Ecole de Technol. Super. (ETS), Montréal, QC, Canada
Abstract :
The dynamics of a 6 DOF lightweight and compact manipulator is modeled and simulated in this work. Both joint and link flexibilities are considered in order to determine modal properties of the robotic system. The numerical results are then compared with experimental measurements of predefined trajectories through a laser tracker. It is demonstrated that both joint and link flexibilities have important effects on the end-effector motion and the vibrational properties of the system.
Keywords :
design engineering; end effectors; manipulator dynamics; vibrations; 6 DOF lightweight manipulator; compact manipulator; end-effector motion; flexible joints; flexible links; laser tracker; modal property; robotic system dynamics; vibrational property; Analytical models; Joints; Kinematics; Mathematical model; Numerical models; Position measurement; Robots; flexible joint; flexible link; laser tracker; robot manipulator; vibration mode;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237775
