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A comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed

Autor
Firoozabadi, A.E.; Ebrahimi, S.; Font-Llagunes, J.M.
Tipus d'activitat
Article en revista
Revista
Robotica
Data de publicació
2017-07
Volum
35
Número
7
Pàgina inicial
1523
Pàgina final
1540
DOI
https://doi.org/10.1017/S0263574716000291 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/100019 Obrir en finestra nova
URL
https://www.cambridge.org/core/journals/robotica/article/comparative-study-of-elastic-motions-in-trajectory-tracking-of-flexible-rpr-planar-manipulators-moving-with-high-speed/C50389A55983F7E829D7D44A000208E2 Obrir en finestra nova
Resum
The study of inertial forces effects at high speeds in flexible parallel manipulators, which generate undesired deviations, is a challenging task due to the coupled and complicated equations of motion. A dynamic model of the Revolute Prismatic Revolute (RPR) planar manipulators (specifically 3-RPR, 2-RPR and 1-RPR) with flexible intermediate links is developed based on the assumed mode method. The flexible intermediate links are modeled as Euler-Bernoulli beams with fixed-free boundary condition...
Citació
Firoozabadi, A.E., Ebrahimi, S., Font-Llagunes, J.M. A comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed. "Robotica", July 2017, vol. 35, no. 7, p. 1523-1540.
Grup de recerca
BIOMEC - Biomechanical Engineering Lab
CREB - Centre de Recerca en Enginyeria Biomedica

Participants