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Dynamic model of a mobile robot with long spatially flexible links

Zohoor, H ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. Publisher: 2009
  3. Abstract:
  4. Using some agent variables, the general structure of the dynamic model of a spatial mobile robot with N long spatially flexible links and N revolute joints has been exposed. It is composed of a set of 5N + 6 nonlinear coupled partial differential motion equations under the influence of the boundary conditions. Non-conservative forces/moments have been neglected. While being considered, the general structure of the dynamic model will not change, but a few exciting/damping terms will arise within the agent variables. The base of the robot is an unconstrained rigid body in space and the links as 3D Euler-Bernoulli beams undergo tension-compression, torsion and two spatial bendings while elastic orientation is considerable and the nonlinear part of the geometric Green-Lagrange strain is ignored. When the elastic orientation is neglected, the dynamic model of each link remains more accurate than that of a nonlinear 3D Euler-Bernoulli beam within which the elastic orientation is actually negligible. The obtained dynamic model is capable of creating the nonlinear 3D long Euler-Bernoulli beam and the fully-enhanced/enhanced/ generalized nonlinear 3D Euler-Bernoulli beam theories, considering a flying or a fixed support. © Sharif University of Technology, October 2009
  5. Keywords:
  6. Flying manipulator ; Highly flexible link ; Mobile robot ; Spatially flexible link ; Euler Bernoulli beam theory ; Euler Bernoulli beams ; Fixed supports ; Flexible links ; Lagrange ; Motion equations ; Partial differential ; Revolute joints ; Rigid body ; Spatially flexible link ; Tension-compression ; Equations of motion ; Flexible manipulators ; Flexible structures ; Mobile robots ; Nonlinear equations ; Three dimensional ; Vibration measurement ; Dynamic models ; Compression ; Mathematical theory ; Numerical model ; Robotics ; Tension ; Torsion
  7. Source: Scientia Iranica ; Volume 16, Issue 5 B , 2009 , Pages 387-412 ; 10263098 (ISSN)
  8. URL: http://scientiairanica.sharif.edu/article_3242.html