Title :
Dynamic Stress Analysis of Flexible Planar Robots
Author :
Zhaocai, Du ; Yueqing, Yu
Author_Institution :
Coll. of Mech. Eng. & Appl. Electron. Technol., Beijing Univ. of Technol.
Abstract :
The relation between the elastic deformations and the elastic displacements of the links of flexible planar robots is investigated. The elastic deformations of links are calculated. The kineto-elastodynamics theory in conjunction with Timoshenko beam theory is employed to derive the maximal dynamic stress of the links and its position, considering the effects of bending-shearing strain and tensile-compression strain. The purpose of dynamic stress analysis is well illustrated through the numerical simulation. Compared with the results of SAMCEF software simulation, the numerical simulation results show good coherence and advantages of the method. The dynamic stress analysis is demonstrated to have significant impact on the design and control of flexible robots
Keywords :
bending; elastic deformation; elastodynamics; robot dynamics; robot kinematics; shearing; stress analysis; Timoshenko beam theory; bending-shearing strain; dynamic stress analysis; elastic deformations; elastic displacements; flexible planar robots; kineto-elastodynamics theory; tensile-compression strain; Educational institutions; Manipulator dynamics; Mechanical engineering; Numerical simulation; Process design; Robot control; Robotics and automation; Stress control; Tensile strain; Tensile stress; Kineto-Elastodynamics; dynamic stress; flexible robots;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257794
