Deflection Analysis of an Elastic Single Link Robotic Manipulator

Abstract Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipu...

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Autores principales:	Rafal M. Khalil, Somer M. Nacy
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2015
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/86b3ab01fb494f68ae684655f31725b5
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spelling	oai:doaj.org-article:86b3ab01fb494f68ae684655f31725b52021-12-02T07:16:40ZDeflection Analysis of an Elastic Single Link Robotic Manipulator1818-11712312-0789https://doaj.org/article/86b3ab01fb494f68ae684655f31725b52015-06-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/250https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 Abstract Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the tip deflection. the deflection was measured for three cases without load, with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer controlled by using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram. Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection. Rafal M. KhalilSomer M. NacyAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 11, Iss 3 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Rafal M. Khalil Somer M. Nacy Deflection Analysis of an Elastic Single Link Robotic Manipulator
description	Abstract Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the tip deflection. the deflection was measured for three cases without load, with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer controlled by using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram. Keywords: Flexible Link Manipulator , Industrial robotics , Robotics Manipulator ,Beam Deflection.
format	article
author	Rafal M. Khalil Somer M. Nacy
author_facet	Rafal M. Khalil Somer M. Nacy
author_sort	Rafal M. Khalil
title	Deflection Analysis of an Elastic Single Link Robotic Manipulator
title_short	Deflection Analysis of an Elastic Single Link Robotic Manipulator
title_full	Deflection Analysis of an Elastic Single Link Robotic Manipulator
title_fullStr	Deflection Analysis of an Elastic Single Link Robotic Manipulator
title_full_unstemmed	Deflection Analysis of an Elastic Single Link Robotic Manipulator
title_sort	deflection analysis of an elastic single link robotic manipulator
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2015
url	https://doaj.org/article/86b3ab01fb494f68ae684655f31725b5
work_keys_str_mv	AT rafalmkhalil deflectionanalysisofanelasticsinglelinkroboticmanipulator AT somermnacy deflectionanalysisofanelasticsinglelinkroboticmanipulator
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Deflection Analysis of an Elastic Single Link Robotic Manipulator

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