American Journal of Mechanical and Industrial Engineering

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Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations

Received: 31 October 2016    Accepted: 13 May 2017    Published: 06 July 2017
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Abstract

This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.

DOI 10.11648/j.ajmie.20170204.13
Published in American Journal of Mechanical and Industrial Engineering (Volume 2, Issue 4, July 2017)
Page(s) 174-188
Creative Commons

This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.

Copyright

Copyright © The Author(s), 2024. Published by Science Publishing Group

Keywords

Flexible Manipulator, Static Analysis, Dynamic Modeling, Finite Element Method, Kinematic Constraints, Neural Network Model

References
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Author Information
  • Department of Mechanical Engineering, NIT Rourkela, Rourkela, India

  • Department of Mechanical Engineering, NIT Rourkela, Rourkela, India

Cite This Article
  • APA Style

    K. V. Varalakshmi, J. Srinivas. (2017). Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. American Journal of Mechanical and Industrial Engineering, 2(4), 174-188. https://doi.org/10.11648/j.ajmie.20170204.13

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    ACS Style

    K. V. Varalakshmi; J. Srinivas. Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. Am. J. Mech. Ind. Eng. 2017, 2(4), 174-188. doi: 10.11648/j.ajmie.20170204.13

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    AMA Style

    K. V. Varalakshmi, J. Srinivas. Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations. Am J Mech Ind Eng. 2017;2(4):174-188. doi: 10.11648/j.ajmie.20170204.13

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  • @article{10.11648/j.ajmie.20170204.13,
      author = {K. V. Varalakshmi and J. Srinivas},
      title = {Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations},
      journal = {American Journal of Mechanical and Industrial Engineering},
      volume = {2},
      number = {4},
      pages = {174-188},
      doi = {10.11648/j.ajmie.20170204.13},
      url = {https://doi.org/10.11648/j.ajmie.20170204.13},
      eprint = {https://download.sciencepg.com/pdf/10.11648.j.ajmie.20170204.13},
      abstract = {This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.},
     year = {2017}
    }
    

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    T1  - Dynamic Analysis of Flexible-Link Planar Parallel Manipulator with Platform Rigidity Considerations
    AU  - K. V. Varalakshmi
    AU  - J. Srinivas
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    DO  - 10.11648/j.ajmie.20170204.13
    T2  - American Journal of Mechanical and Industrial Engineering
    JF  - American Journal of Mechanical and Industrial Engineering
    JO  - American Journal of Mechanical and Industrial Engineering
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    EP  - 188
    PB  - Science Publishing Group
    SN  - 2575-6060
    UR  - https://doi.org/10.11648/j.ajmie.20170204.13
    AB  - This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipulator configuration having rigid mobile platform using coupled dynamics of limbs and kinematic constraints of mobile platform. Dynamic response of flexible manipulator is validated using ANSYS simulations for two different cases of trajectories. The results show a remarkable effect of flexibility of mobile platform on the overall dynamic response. After validation of the model, the inverse dynamic analysis data is used to create the system dynamics by employing generalized regression neural network (GRNN) model and the forward dynamic solutions of the flexible manipulator are predicted instantaneously. This study is useful for the real time implementation of motion control of flexible manipulators with complex dynamic model of manipulators.
    VL  - 2
    IS  - 4
    ER  - 

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