Dynamic Response of the Flexible Links and Joints of a Robot

Authors

  • Srinivas Reddy P Faculty of Engineering, Mechanical Department, CVR College of Engineering, Hyderabad, India Author
  • T.A. JanardhanReddy Faculty of Engineering, Mechanical Department, CVR College of Engineering, Hyderabad, India Author
  • Chandra Sekhar K Faculty of Engineering, Mechanical Department, CVR College of Engineering, Hyderabad, India Author

Keywords:

manipulator, dynamic, payload, hub inertia, joint stiffness, fundamental frequency.

Abstract

This paper mainly focuses on the theoretical development of the equations of motion of a robotic manipulator, involving both joint flexibility and structural flexibility. The objective of this work is to extract the dynamic equations and write a ’C’ program to check the effect of joint flexibility on the system frequencies. The obtained outcomes of this paper showthat the fundamental frequency is not sensitive to hub inertia or payload inertia but are mainly affected by payload mass, while the second frequency is affected by payload inertia.

References

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Published

2014-10-31

Issue

Vol.4, No.5 (Sep/Oct 2014)

Section

Articles

How to Cite

Dynamic Response of the Flexible Links and Joints of a Robot. (2014). International Journal of Current Engineering and Technology, 4(5), 3104-3110. https://ijcet.evegenis.org/index.php/ijcet/article/view/1177