Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

Tang, Lian; Gouttefarde, Marc; Sun, Hongbin; Yin, Lairong; Zhou, Changjiang

doi:10.1016/j.mechmachtheory.2021.104347

Cited by 36 publications

(17 citation statements)

References 40 publications

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“…Safe interaction of the robotic hand with the environment and the human body is one of the important design concerns. Cable-driven mechanisms can address this requirement by adding more compliance to the design [20,21]. Additionally, these mechanisms can provide a lightweight and potentially compact robotic hand.…”

Section: Design Objectives and Approachmentioning

confidence: 99%

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Nikafrooz

Leonessa

2021

Robotics

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Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize the main design characteristics for a given application. Therefore, in the existing designs the requirements are only partially satisfied, leading to complicated and bulky solutions. To address this gap, a novel single-actuated, cable-driven, and self-contained robotic hand is presented in this work. This five-fingered robotic hand supports 19 degrees of freedom (DOFs) and can perform a wide range of precision and power grasps. The external structure of fingers and the thumb is inspired by Pisa/IIT SoftHand, while major modifications are implemented to significantly decrease the number of parts and the effect of friction. The cable configuration is inspired by the tendon structure of the hand anatomy. Furthermore, a novel power transmission system is presented in this work. This mechanism addresses compactness and underactuation, while ensuring proper force distribution through the fingers and the thumb. Moreover, this power transmission system can achieve adaptive grasps of objects with unknown geometries, which significantly simplifies the sensory and control systems. A 3D-printed prototype of the proposed design is fabricated and its base functionality is evaluated through simulations and experiments.

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Section: Design Objectives and Approachmentioning

confidence: 99%

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Nikafrooz

Leonessa

2021

Robotics

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“…The particular feature of a flexible link is denoted as the capability of allowing a transversal deflection away from the predefined undeformed link. Regarding the flexible beam modeling methods, there are two well-known approaches, namely the Timoshenko beam theory [14] and the Euler-Bernoulli beam theory [7,9,12,[15][16][17][18]. The Euler-Bernoulli beam theory is widely used with the assumption of neglecting both the shear deformation and rotary mass moment of inertia.…”

Section: Introductionmentioning

confidence: 99%

“…The Euler-Bernoulli beam theory is widely used with the assumption of neglecting both the shear deformation and rotary mass moment of inertia. A potential technique to reduce the influence of shear deformation during a large motion proposed in [17,18] is to use two parallel cable units on both sides of the flexible beam. In addition, the Euler-Bernoulli beam theory is sufficient to predict the dynamic performance of slender composite beams with a slenderness ratio larger than Appl.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of a Flexible-Link Flexible-Joint System with Tip Mass Considering Stiffening Effect

Tang

Zhao

2022

Applied Sciences

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This paper presents the dynamic model of a flexible-link, flexible-joint manipulator system with a considerable stiffening effect of the flexible link. A gripper, along with tip mass, is attached at one end of the flexible link. By employing the extended Hamilton’s principle, a nonlinear governing equation of motion is derived along with several boundary constraints. Under the assumption of small deformation in free vibration, a simplified motion equation is deduced to determine the natural frequencies of the mechanical system. Four parameters of the system are selected to carry out the sensitivity study on frequency. The results show that the second frequency mainly depends on the mass of tip payload. Moreover, the third frequency is significantly affected by the moment inertia of tip payload. Regarding the constant angular motion, the finite element method is adopted to analyze the dynamic model by considering the stiffening effect. The frequency results are obtained which show a higher stiffness of the Single Flexible-link Flexible-joint (SFF) system with the angular velocity increasing. The influence of three factors (i.e., payload mass, length of the flexible link, and angular velocity) on the fundamental natural frequencies are discussed, which show instinct characteristics of the flexible manipulator system.

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“…However, the higher modes should be included in the model if it is likely that these modes may excite the servo-loop frequencies [2]. Although FEM with more DoFs yields more precise results than AMM, AMM is preferred to FEM for real-time control purposes [16].…”

Section: Introductionmentioning

confidence: 99%

“…The Equivalent Rigid-Link System (ERLS) approach for 3-D FLM has been developed in [17] through FEM and component mode synthesis techniques. Hamilton's principle is applied in [16] to obtain the dynamic model of a single-link flexible manipulator stiffened with cables. In [18], AMM is used in conjunction with recursive Gibbs-Appell formulation to obtain the dynamic model of flexible cooperative mobile manipulators that are kinematically and dynamically constrained.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Planar Multi-Link Flexible Manipulators

2021

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A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.

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Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

Cited by 36 publications

References 40 publications

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Dynamic Modeling of a Flexible-Link Flexible-Joint System with Tip Mass Considering Stiffening Effect

Dynamic Modeling of Planar Multi-Link Flexible Manipulators

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