Positioning of Manipulator's Tip with Regard to Accuracy of Link Machining

• Autorzy: Hać M. , Kiszka K.
• Konferencja: French-Polish Seminar of Mechanics (19 ; 8-11.06. 2011 ; Perpignan, France)
• Języki publikacji: EN

Abstrakty

EN

In this paper the kinematic and dynamic analysis of planar two-link flexible manipulator is studied with the machining tolerance of links taken into account. The influence of different cross-section area within the assumed tolerance on the dynamic behaviour of manipulator's tip is investigated. For vibration analysis of links the finite element method is used with Bernoulli-Euler beam elements. The results of analysis show that the changes in the cross-sectional shape of manipulator's links, within the assumed tolerance of machining, can be quite significant and can influence the positioning accuracy of themanipulator. In order to obtain the exact trajectory of manipulator's tip the adaptive control system should be applied.

Słowa kluczowe

EN

FEM; dynamics of machines; mechanism analysis; machining tolerance; manipulator positioning

• Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
• Czasopismo: Machine Dynamics Research
• Rocznik: 2011
• Tom: Vol. 35, No. 2
• Strony: 108--120
• Opis fizyczny: Bibliogr. 8 poz., wykr.

Twórcy

autor

Hać M.

autor

Kiszka K.

• Warsaw University of Technology,

Bibliografia

• Bratland, M., Haugen, B., Rolvag, T., 2011, Modal analysis of active multibody systems, Computers and Structures, 89, 750-761.
• Hać, M., 1996, Dynamic analysis of flexible mechanisms by finite element method, Machine Dynamics Problems, 14.
• Hać, M., 2005, Influence of static and dynamic deflection of shaft pins on strength parameters of toothed gear, Machine Dynamic Problems, 29, 65-76.
• Hać, M., Ostapski, W., 1998, Dynamics of planar manipulators with flexible links driven by motors with harmonic drives, Machine Dynamics Problems, 22, 19-32.
• Hollerbach, J. M., 1984, Dynamic scaling of manipulator trajectories, AS ME Journal of Dynamic Systems, Measurenent and Control, 106, 102-106.
• Kiszka, K., 2010, New aproach to tolerancing of linear sizes based on ISO 286, Mat. XVIII Francusko-Polskie Seminarium Mechaniki, 79-86 (in Polish).
• Rakowski, G., Kacprzyk, Z., 1993, Metoda elementów skończonych w mechanice konstrukcji, WPW Warszawa (in Polish).
• Turcic, D. A., Midha, A., 1984, Generalized Equations of Dynamie Analysis of ElasticMechanism Systems. Part I: Applications, ASME Journal of Dynamic Systems, Measurement and Control, 106, 249-254