Authors: M H Korayem A M Shafei F Absalan B Kadkhodaei A Azimi
Publish Date: 2013/12/17
Volume: 71, Issue: 5-8, Pages: 1005-1018
Abstract
This paper presents an investigation into the development of modeling of nviscoelastic robotic manipulators The dynamic model of the system is derived using GibbsAppell formulation and assumed mode method When the beam is short in length direction shear deformation is a factor that may have significant effects on system dynamic So in modeling the assumption of Timoshenko beam theory and associated mode shapes has been considered Although including the effect of damping in continuous systems makes the formulations more complicated two important damping mechanisms namely KelvinVoigt damping as internal damping and the viscous air damping as external damping have been considered Based on derived formulation a nonlinear recursive algorithm is developed for deriving the inverse dynamic equation of motion systematically The performance of the proposed algorithm was assessed in terms of the required mathematical operations for deriving the kinematic and dynamic equations of the mechanical system Finally to validate the proposed formulation a comparative assessment between the results achieved from experiment and simulation is presented in time and frequency domains
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