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Payload Maximization for Mobile Flexible Manipulators in Environment with an Obstacle

Heidari H., Haghpanahi M., Korayem M. H.

Journal of Theoretical and Applied Mechanics

2015

Vol. 53 nr 4

911—923

A mobile flexible manipulator is developed in order to achieve high performance requirements such as high-speed operation, increased high payload to mass ratio, less weight, and safer operation due to reduced inertia. Hence, this paper presents a method for finding the Maximum Allowable Dynamic Load (MADL) of geometrically nonlinear flexible link mobile manipulators. The full dynamic model of a wheeled mobile base and the mounted flexible manipulator is considered with respect to dynamics of non-holonomic constraint in environment including an obstacle. In dynamical analysis, an efficient model is employed to describe the treatment of a flexible structure in which both the geometric elastic nonlinearity and the foreshortening effects are considered. Then, a path planning algorithm is developed to find the maximum payload that the optimal strategy is based on the indirect solution to the open-loop optimal control problem. In order to verify the effectiveness of the presented algorithm, several simulation studies are carried out for finding the optimal path between two points in the presence of obstacles. The results clearly show the effect of flexibility and the proposed approach on mobile flexible manipulators.

Comprehensive mathematicaI modelling of a transversely vibrating flexible link robot manipulator carrying a tip payload

Loudini M., Boukhetala D., Tadjine M.

International Journal of Applied Mechanics and Engineering

2007

Vol. 12, no 1

67-83

The purpose of this paper is to describe the application of the Timoshenko beam theory (TBT) to the mathematical modelling of a planar one link flexible robot manipulator pinned at its actuated base and carrying a payload at its free end-point. The emphasis has been put on obtaining accurate and complete equations of motion that display the most relevant aspects of structural propenies inherent to the modelled lightweight flexible link. So, in addition to the classical effects of shearing and rotational inertia of the link cross-section, two imponant damping mechanisms: external viscous air damping and internal structural viscoelasticity effect (Kelvin-Voigt damping) have been included. Gravity, torsion, and longitudinal elongation have been neglected. Numerical simulations, performed to show the free vibrational behaviour of the modelled system, demonstrate the imponant effect of the carried payload on the amplitude and the frequency of vibrations.