Design Considerations for an Earth Based Flexible Robotic System

Abstract

This paper provides insights into the problems of designing a robot with joint and link flexibility. The relationship between the deflection of the robot under gravity is correlated with the fundamental frequency of vibration. The authors consider different types of link geometry and evaluate the flexibility potential of different materials. Some general conclusions and guidelines for constructing a flexible robot are given. Keywords: Vibration; Gravity loading; Arms.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1989
Accession Number
ADA209635

Entities

People

  • Andrew D. Christian
  • Warren P. Seering

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Aluminum
  • Artificial Intelligence
  • Bending Moments
  • Bending Stress
  • Control Systems
  • Diameters
  • Elastic Properties
  • Frequency
  • Metals
  • Military Research
  • Modulus Of Elasticity
  • Moment Of Inertia
  • Resonant Frequency
  • Space Based
  • Standards
  • Three Dimensional
  • Vibration

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.
  • Theoretical Analysis.

Technology Areas

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