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

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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.


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


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