August 6, 2011 -

Elastic Robot

   Elastic Robot   In recent years, there has been considerable interest in usage of flexible link robotic manipulators. Compared with the conventional heavy and bulky rigid robots, the elastic link manipulators have their special advantages of larger work volume, higher operation speed, greater payload-to-manipulator weight ratio, lower energy consumption, better maneuverability and better transportability. However, the accuracy of operation in these kinds of robotic manipulators is strongly restricted by their dynamic deflection and vibration which persists for a period of time after a move is completed. These contradictory requirements between high speed and high accuracy have rendered this issue a challenging research problem. In order to completely achieve the potential benefits offered by these lightweight robotic manipulators, one clearly needs a complete dynamical model for this kind of robots to control the vibrating behavior of light links in high velocity and heavy load situations. So, it is extremely desirable to have an explicit, complete and precise dynamic model at disposal. A two link flexible robotic manipulator is design and manufacture in this lab to verify the results that obtained from theory.     Related projects (Mr. Shafei)   Ø Improve the available models of elastic robotic manipulators.   Ø Work on efficient algorithm to derive the equation of motion in symbolic and systematic form   Ø Apply different control strategies to reduce the undesired vibrating behavior of these robots   Ø Work on optimal path planning