Matrix formulations for solving the configuration-dependent eigenvalue problem of a two-link flexible manipulator

Castri, Carmelo di; Messina, Arcangelo

doi:10.1109/raad.2010.5524582

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…Piras et al 52 presented an FE analysis of a planar parallel manipulator with flexible links. Di Castri and Messina 53 presented an FE analysis investigating the configuration dependency of a TLFM. Martins et al 54 investigated into the theoretical and experimental comparisons of some modelling methods for flexible manipulators including an AMM model measured based on linear displacements, an AMM model with quadratic displacements, and an FE model.…”

Section: Finite Element Methodsmentioning

confidence: 99%

Review of modelling and control of flexible-link manipulators

Sayahkarajy

Mohamed

Faudzi

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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In recent decades, flexible manipulators have been studied by many researchers from robotics, solid mechanics, and control fields. Flexible manipulators have many advantages, including low weight because of the slenderness of the links of the robot. Although the original objective was to take advantages of the slenderness or flexibility in real robots, the challenging dynamics of the systems intrigued interests to employ an experimental flexible manipulator as a test bed to evaluate different modelling or control methods. With such a vast and various literatures, a review is indispensable for researchers who want to adapt their interests with the area. Some valuable review articles have been published, referencing numerous articles on single-link or multi-link flexible arms. This article pays an inclusive focus on trends of the research on modelling and control of multi-link flexible-link manipulators. The scope of this review article is particularly on two-link flexible manipulators, relevant models presented for closed-loop applications, and model-based control. Recent and historical contributions in the modelling and control of flexible-link manipulators are presented and discussed. As regular industrial manipulators normally have multiple links with two long links, that is, upper arm and forearm, this review can introduce advances in considering elasticity effects to robotic researchers.

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Section: Finite Element Methodsmentioning

confidence: 99%

Review of modelling and control of flexible-link manipulators

Sayahkarajy

Mohamed

Faudzi

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Flexible robots are widely used due to increasing industrial productivity, reducing the weight of robots and the need for low energy consumption [3][4] . It's a cable-embedded silicone arm that mimics the motions octopuses use when crawling [5] .…”

Section: Introductionmentioning

confidence: 99%

Control and Dynamic Simulation of Wire-Driven Precise Spray Robotic Arm

Niu

Bao

et al. 2022

J. Phys.: Conf. Ser.

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The spraying of citrus to kill insects is a necessary part of the citrus planting process. Most of the currently used sprayers are cover sprays, which cannot achieve accurate and low-consumption spraying. Causing a lot of pesticide waste and environmental pollution. Aiming at the difficulty of precise spraying of citrus leaves, this paper proposes a soft spraying manipulator with good bending characteristics and flexible operation ability. The robotic arm consists of 6 joints and 2 arm segments. The two arm segments of the robotic arm are driven by two wire ropes and move in two orthogonal planes respectively. The PD controller design is designed. The joint state observers are constructed to predict joint angles, angular velocities, and other information. The dynamic simulation experiment is carried out, and the relationship between the wire rope tension and the spring elastic force changes with time, and the relationship between each joint angle changes with time. These make the wire-driven precise spray robotic arm potentially useful in agricultural spraying.

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Matrix formulations for solving the configuration-dependent eigenvalue problem of a two-link flexible manipulator

Cited by 2 publications

References 5 publications

Review of modelling and control of flexible-link manipulators

Review of modelling and control of flexible-link manipulators

Control and Dynamic Simulation of Wire-Driven Precise Spray Robotic Arm

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