Abstract
The flexural behaviour of robotic manipulators provides certain advantages such as high payload-to-weight ratio and speedy movement. Flexural nature of such robot arms consumes relatively lower energy as well. However, this design of robotic arms spurs vibratory actions, which in turn penalizes the work of robotic arms. Knowing and atoning for the tendencies of such robots to vibrate is therefore of great consequence, especially for a pick and place robot arm used in material handling is to be performed with high level of accuracy.
In the present work, an attempt is made to predict the dynamic behaviour of a flexible robot arm by considering most of the possible nonlinear attributes, which makes the analysis more realistic. Robot arm holding mass is modelled as a beam with a tip mass at the free end, and the other end is connected to a support which enables a rotary motion of the robot arm. The flap-wise vibration behaviour is investigated using the energy-based approach. Nonlinear equation of motion with appropriate boundary conditions is derived using extended Hamilton's principle and subsequently solved using a perturbation method, namely, method of multiple scales. The results indicate that the ratio of linear-to-nonlinear frequency of the system is found to decrease with the increase in tip mass. On the other hand, these ratios are increased by an increase in the rotating speed of the hub.
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Upendra, B., Panigrahi, B., Singh, K., Sabareesh, G.R. (2021). Numerical Investigation on Dynamic Stability of a Pick and Place Robot Arm. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_53
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DOI: https://doi.org/10.1007/978-981-16-1769-0_53
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