Master of Science (MS)
Civil and Mechanical Engineering
First Committee Member
Samaan G. Ladkany
Number of Pages
The structural design of a flexible three-link hydraulically activated robotic mechanism is presented. Static and quasi dynamic, three-dimensional analysis of the robotic mechanism is shown. Force and deflection equations are derived for the robotic mechanism and the finite element analysis is used to model its dynamic behavior and to study the fundamental 3-D bending and twisting frequencies of the arm as it reaches various positions inside the workspace. Using beam-column theory and finite element method, the design of a flexible three-link robotic mechanism is shown. The flexibility of the arm is set so that the total deflection of the arm is limited to 2%-3% of its maximum reach; and its first two fundamental frequencies are less than 6 Hz. The arm is capable of carrying a load equal or greater to its own weight. (Abstract shortened with permission of author.).
Actuated; Analysis; Arm; Design; Flexible; Hydraulic; Robotic; Structural; Three-link
University of Nevada, Las Vegas
If you are the rightful copyright holder of this dissertation or thesis and wish to have the full text removed from Digital Scholarship@UNLV, please submit a request to firstname.lastname@example.org and include clear identification of the work, preferably with URL.
Bannoura, Tarek Mitri, "Structural analysis and design of a flexible three-link hydraulically-actuated robotic arm" (1989). UNLV Retrospective Theses & Dissertations. 36.