Exact modeling of the flexible slewing link

Author

Bellezza, F. ; Lanari, L. ; Ulivi, G.

Author_Institution

Dipartimento di Inf. e Sistemistica, Roma Univ., Italy

fYear

1990

fDate

13-18 May 1990

Firstpage

734

Abstract

The exact eigenfunctions for the slewing link of a robot are found, taking into account a rotating inertia at the base and a payload at the tip. These derive from two equivalent formulations (pseudoclamped and pseudopinned) of the boundary value problem relative to the flexible slewing beam. The exactness of the solution makes it possible to prove the equivalence of these two approaches, which differ in the choice of the noninertial rotating frame. The two related dynamic linear models are then found, and a change of coordinates is given. Experimental measurements validate the theoretical results

Keywords

boundary-value problems; distributed parameter systems; eigenvalues and eigenfunctions; large-scale systems; robots; boundary value problem; exact eigenfunctions; exact modeling; flexible robot arms; flexible slewing link; noninertial rotating frame; payload; pseudoclamped formulation; pseudopinned formulation; rotating inertia; slewing beam; Boundary value problems; Differential equations; Eigenvalues and eigenfunctions; Finite element methods; Manipulators; Partial differential equations; Payloads; Polynomials; Prototypes; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126073

Filename

126073