Computational efficient discrete time transfer matrix method for large deformation analysis of flexible manipulators

Bamdad, Mahdi; Feyzollahzadeh, Mahdi

doi:10.1080/15397734.2020.1830800

Cited by 11 publications

(9 citation statements)

References 26 publications

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“…[2016] (37) made use of FEM based upon geometrically exact beam theory for obtaining the most accurate mathematical model for the flexible manipulators. Bamdad and Feyzollahzadeh [2020] (38) used discrete time transfer matrix method to analyze the large deformations of a flexible manipulator. They tried to reduce the computational complexity associated with such manipulators.…”

Section: Dynamic Modelling Using Assumed Modes Methodsmentioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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Objectives: This paper addresses two key issues in the area of flexible robotics. The issues are dynamic modelling and control of flexible link robots. A brief, yet, significant review is provided that addresses these issues. Methods: The various approaches used by researchers for dynamic modelling and control of flexible robots are presented. Besides that, methods used for achieving optimal control are also discussed. Findings: After a review of 153 research papers from the year 1975 to 2021, it has been found that a good dynamic model of flexible manipulator helps in reducing the control and computational efforts. Recent trends in research in the area of flexible manipulators are towards the use of sliding mode control and vision-based control techniques. Novelty: Inclusion of the effect of torsional vibrations besides lateral vibrations on the positional accuracy of flexible manipulators makes the current research work novel.

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Section: Dynamic Modelling Using Assumed Modes Methodsmentioning

confidence: 99%

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Mishra¹,

Singh²

2021

IJST

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“…where b is the width of the link, h is the depth, and ρ is density. Then, the mass-free elastic elements between the lumped masses are modeled by rigid elements connected by rotational springs as follows (Bamdad and Feyzollahzadeh, 2020)…”

Section: Flexible Linkmentioning

confidence: 99%

“…where U ex is the external force transfer matrix, U r, i is the rigid element transfer matrix, and U s, i is the torsional spring transfer matrix (Bamdad and Feyzollahzadeh, 2020). The coefficient α is studied in this large deformation simulation.…”

Section: Validation Of the Proposed Modelmentioning

confidence: 99%

“…Due to the flexible link discretization, the length of link L is divided into a series of rigid elements attached by a rotational spring. In our contributed method for linear deformation, the first element length is α times the length of the rest elements (i=2,…,n) and the length of element i is represented by (Bamdad and Feyzollahzadeh, 2020)…”

Section: System Modeling and Discretizationmentioning

confidence: 99%

“…To get higher accuracy, the size of the first element is denoted by a factor. The value of α has been studied in previous studies for small deformation (Bamdad and Feyzollahzadeh, 2020) and has not yet been reviewed for large deformation. Concerning time discretization, a simple algorithm of implicit time integration is employed in the DT-TMM.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

Feyzollahzadeh

Bamdad

2022

Journal of Vibration and Control

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In the flexible manipulators, the links could be modeled using rigid elements and torsional springs, and similarly, the flexibility in actuators could be represented with the equivalent springs. This study applies the discrete time transfer matrix method for the dynamic analysis of flexible manipulators with large deformations. On a first-priority basis, transfer matrices are determined, including all the flexible link/joint mechanism components. A single transfer matrix is established for prismatic and rotational actuators with equivalent springs to build the robotic transfer matrix library. On the second priority, to reduce the computation time, a novel algorithm is developed. In the proposed flexible link discretization, the first element of the flexible link is considered as a function of other elements. It is designed to build a mathematical model as closely as possible to the realistic model with fewer elements. It is presented that this modeling technique can employ discrete data extracted by the sensors. The simulation primarily focuses on developing flexible beam/joint models validated in ADAMS. Besides, the dynamic behavior of a flexible PR robot with external forces acting on the linkage system is analyzed and examined. The result shows that the proposed modeling method affords a low computational time while the manipulator control needs to manage fast responses.

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An efficient discrete algorithm in dynamic modeling of large-deformation flexible mechanisms

Bamdad

Feyzollahzadeh

2023

Multibody Syst Dyn

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Computational efficient discrete time transfer matrix method for large deformation analysis of flexible manipulators

Cited by 11 publications

References 26 publications

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Dynamic modelling and control of flexible link manipulators: methods and scope- Part-1

Efficient technique in computational dynamic modeling of a flexible manipulator with large deformation

An efficient discrete algorithm in dynamic modeling of large-deformation flexible mechanisms

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