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1 Machine Dynamics Research

1 2011

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

Hać M., Kiszka K.

Machine Dynamics Research

2011

Vol. 35, No. 2

108-120

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.