Award Date

1-1-1990

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

Number of Pages

98

Abstract

The optimal joint angle trajectory planning of light-weight flexible manipulator is investigated based on the cycloidal motions of each joint. The objective of the optimization is the minimization of link tip vibrations during and after joint motion, and the design variables are the inflection or switch point of the cycloidal motion; The Lagrangian equations are used to derive the dynamic equations of motion and the Assumed-modes method is used for numerical solution. The proposed optimum joint angle trajectory can be implemented by off-line programming for the minimum vibration of robot arms; One and two flexible links cases are investigated and computer simulation is performed for different payloads and manipulator configurations.

Keywords

Elastic; Joint; Links; Optimal; Planning; Robot; Trajectory

Controlled Subject

Mechanical engineering

File Format

pdf

File Size

2263.04 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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