Title

Dynamic Simulation of a Three Degrees of Freedom Hydraulically Activated Robot Arm with Flexible Links

Document Type

Article

Abstract

The formulation of dynamic equations of motion of a three degrees of freedom hydraulically activated robotic arm with flexible links is presented. The dynamic model is based on Bernoulli-Euler theory for beams. It was found that the assumed modes method presents a suitable way of approximation to represent the system. The model is a set of nonlinear coupled ordinary differential equations. These equations solve the inverse dynamic problem by determining the deflection of the robot links and using them to obtain the required forces/torques in the hydraulic actuators for a given motion of the manipulator joints.

Disciplines

Applied Mathematics | Artificial Intelligence and Robotics | Computer-Aided Engineering and Design | Manufacturing | Mechanical Engineering | Non-linear Dynamics

Permissions

Use Find in Your Library, contact the author, or use interlibrary loan to garner a copy of the article. Publisher copyright policy allows author to archive post-print (author’s final manuscript). When post-print is available or publisher policy changes, the article will be deposited