Composite Material Robot Manipulator with Joint Flexibility- Mode and Mode Shape Simulation

Abstract

Simulation of composite material robot manipulator with joint flexibility is initiated. The lightweight three types of composite material manipulator links with different joint stiffness are considered for vibration mode and mode shape simulation. The model and its motion equations are obtained by using assumed mode method incorporating and joint flexibility. The structural flexibility of a composite material also included in the analyses. The purpose of simulation to predict the behavior of composite material links, which is inevitable for replacement of bulky manipulators. To reach a set point of flexible link manipulator in a work volume with vibration accuracy is analyzed. The thin flexible link for precise positioning will face transient vibration problems. The flexible deflection and residual vibration are affect the positioning of end point. The source of vibration of a manipulator is due to light structural weight when it is rotated by the actuator. The lightweight link will move faster, but the unwanted vibration in the link is raised. To reduce this vibration issue, without compromising the light weight material, the simulation is carried out.