Accurate Modeling and Nonlinear Finite Element Analysis of a Flexible-Link Manipulator
Accurate dynamic modeling and analysis of flexible link manipulator (FLM) with non linear dynamics is very difficult due to distributed link flexibility and few studies have been conducted based on assumed modes method (AMM) and finite element models. In this paper a nonlinear dynamic model with first two elastic modes is derived using combined Euler/Lagrange and AMM approaches. Significant dynamics associated with the system such as hub inertia, payload, structural damping, friction at joints, combined link and joint flexibility are incorporated to obtain the complete and accurate dynamic model. The response of the FLM to the applied bang-bang torque input is compared against the models derived from LS-DYNA finite element discretization approach and linear finite element models. Dynamic analysis is conducted using LS-DYNA finite element model which uses the explicit time integration scheme to simulate the system. Parametric study is conducted to show the impact payload mass. A numerical result shows that the LS-DYNA model gives the smooth hub-angle profile.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1090777Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2663
 W. J. Book, Recursive Lagrangian dynamics of flexible manipulator arms, The International journal of Robotics Research, vol. 3, no. 3, pp. 87-101, Fall 1984.
 Chang-Jin Li and T. S., Systematic Methods for Efficient Modeling and Dynamics Computation of Flexible Robot Manipulators, IEEE trans. on Syst., Man, Cybern., vol. 23, no. 1, pp. 77-95, Jan 1993.
 M. Martins, Z. Mohamed, M.O. Tokhi, Approaches for dynamic modeling of Flexible Manipulator systems, IEEE Proc.-Control Theory Appl., Vol. 150, No. 4, July 2003.
 Dwivedy SK, Eberhard P., Dynamic analysis of flexible manipulators, a literature review, Mechanism and Machine Theory, 2006; 41:749-777.
 Hasting, G.G., and Book W.J., A linear dynamic model for flexible robot manipulators, IEEE Control Syst. Mag., Vol. 7, pp. 61–64, 1987
 M. A. Ahmad, Z. Mohamed and N. Hambali, Dynamic Modeling of a Two link Flexible Manipulator System Incorporating Payload, IEEE Proceedings Control Theory and Application, 2008;pg 96-101
 Yang, G. B., and Donath, M., 1988, Dynamic modeling of a one link robot manipulator with both structural and joint flexibility, In Proceedings of the IEEE Conference on Robotics and Automation, pp. 476–48
 B. Subudhi, A.S. Morris, Dynamic modeling, simulation and control of a manipulator with flexible links and joints, Robotics and Autonomous Systems 41 (2002) 257–270
 Baker, W.E., Woolam, W.E., and Young, D., Air and Internal Damping of Thin Cantilever Beams, Int.J. Mech.Sci. Pergamon Press Ltd, Vol.9, 1967, pp.743-766.
 Jin Fu Zhang, Dynamic Modeling of Planar Flexible Multi-Link Manipulators with Accounting for both Link Foreshortening and Link Material Damping, International journal of Advanced Materials Research, Vols, 199-200(2011) pp 19-24
 Tokhi. M. O. Mohamed, Z. and Azad, A. K. M, Finite difference and finite element approaches to dynamic modelling of a flexible manipulator”, Proceedings of IMechE-I: Journal of Systems and Control Engineering, Vol.211(1997), pp. 145-156.
 J. Chung and H. H. Yoo, Dynamic analysis of a rotating cantilever beam by using the finite element method, Journal of Sound and Vibration(2002) 249(1), 147-164.
 R. Fotouhi, Dynamic analysis of very flexible beams, Journal of Sound and Vibration 305(2007), 512-533.
 H. Karagulle, L. Malagaca, Analysis of end-point vibrations of a two-link manipulator by integrated CAD/CAE procedures, Finite Elements in Analysis and Design 40(2004) 2049-2061.
 A. Nemov et al. /, Dynamic structural analysis of a fast shutter with a pneumatic actuator, Fusion Engineering and Design (2013).
 Wu Cai, Zefeng Wen , Xuesong Jin, Wanming Zhai, Dynamic stress analysis of rail joint with height difference defect using finite element method, Engineering Failure Analysis 14(2007) 1488-1499.
 Wilhelm Rust and Karl Schweizerhof, Finite element limit load analysis of thin-walled structures by ANSYS (implicit) , LS-DYNA (explicit) and in combination, Thin-Walled Structures (Elsevier) 41 (2003) 227-244.
 Himanshu v. Gajjar, Anish H. Gandhi, and Harit k. Raval, Finite Element of Sheet Metal Air bending using Hyperform LS-DYNA, World Acadamy of science,Engineering and Technology 8 2007.