Modeling and Experimental Validation of a Single-Link Flexible Manipulator

Abstract

Structural flexibility effects on robot mechanisms is a very important consideration in the move toward lighter, faster, and more accurate robot systems. This thesis presents the computer simulation and experimental validation of a dynamic model of an experimental single-link flexible manipulator, using the Equivalent Rigid Link System with an enhanced natural-mode discretization. The experimental arm is driven by a hydraulic actuator and moves in a vertical plane. Hydraulic actuator and moves in a vertical plane. Hydraulic actuator dynamics and the effects of gravity are included in the equations of motion. Computer simulation for the experimental arm is performed by the Dynamic Simulation Language (DSL). The validation of the dynamic model includes the comparison between the actual tip position and the predicted arm tip position.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1986
Accession Number
ADA176614

Entities

People

  • Kevin P. Gannon

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • C4I
  • Energy and Power Technologies
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Computational Science
  • Computer Programming
  • Computer Programs
  • Computer Simulations
  • Computers
  • Crystal Structure
  • Engineering
  • Equations
  • Equations Of Motion
  • Finite Element Analysis
  • Hydraulic Actuators
  • Language
  • Mainframe Computers
  • Measurement
  • Plastic Explosives
  • Strain Gages

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Marine Hydrodynamics
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy