Award Date

1-1-1989

Degree Type

Thesis

Degree Name

Master of Science (MS)

Number of Pages

185

Abstract

This thesis presents theoretical and experimental methods for determining the static and dynamic response, in three dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of the elastic strain at three specific locations on each link. Strains are converted to voltage differentials and are read into a micro-computer through an A-to-D board system, where they are converted to digital strain values. Coefficients defining the damped response of the robot are determined experimentally. The dynamic response of the robotic manipulator is also studied using the finite element method. Given the readings of the angular encoders, a FORTRAN code is presented that prepares complete source files for the robot. (Abstract shortened with permission of author.).

Keywords

Analysis; Dynamic; Element; Finite; Flexible; Fourier; Gages; Lagrange; Polynomials; Response; Robot; Series; Strain; Three-link

Controlled Subject

Mechanical engineering

File Format

pdf

File Size

4.62 MB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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