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| Titel: |
Effects of joint flexibility on the motion of a flexible-arm robot |
| Auteur: |
Singh, Tarunraj Dubey, R. N. Golnaraghi, M. F. |
| Verschenen in: |
Dynamical systems |
| Paginering: | Jaargang 6 (1991) nr. 3 pagina's 235-254 |
| Jaar: |
1991 |
| Inhoud: |
Once flexibility is introduced into the arm of the robot severe problems in the accuracy and stability are likely to occur which make control a critical issue. These problems could amplify drastically once the joint flexibility is also added to the system. A more successful control algorithm can be developed if the nonhnear dynamics associated with the flexible joint-arm is properly accounted for In this paper we study the behaviour of a three degree of freedom flexible joint-arm. Robot with quadratic and cubic nonlinearities. The symibolic manipulator language MAPLE is used to develop a simplified mathematical model of the system and to perform the analytical study. The two-variable expansion perturbation method is used to show the existence of various nonlinear resonances. If the system natural frequencies are defined as ω1,ω2 and ω$inf;2 internal resonance occurs when omega;2$einf; = 2ω1ω3/(ω21 + ω23)½. Moreover, once subjected to harmonic forcing with frequency Ω a nonlinear forced resonance occurs at Ω ≈ ω2 the system undergoes a jump phenomenon Numerical simulation concurs with the analytical results for small motions. However, at higher amplitudes of forcing, numerical studies indicate the existence of a chaotic solution in the resonance region. The route to chaos contains subharmonic bifurcations |
| Uitgever: |
Taylor & Francis |
| Bronbestand: |
Elektronische Wetenschappelijke Tijdschriften |
Details van artikel 3 van 5 gevonden artikelen
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