A Comparison
of the Dynamic Modeling of Flexible Robot Arm
Mehran Fakhraie
Mehran_Fakhraie@yahoo.com
Research Vice Chancelor
Islamic azad university, lahijan unit, gilan.
Iran
Abstract
In this article, we will analyze a 3 point spatial robot which its
second and third members are flexible and the third is made from
composite material and the joint between the two is flexible too.
For this, we use concepts like Hamilton's rule, differentiation,
modification of changes and the finite elements method. For determination
of motion equations and to get the approximate results, we use the
finite element method with timoshenko beam theory. The element considered
has 10 degrees of freedom and we will prove that the dynamic response
of the robot arm made from composite material is more precise.
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