Lateral and Torsional Vibration Analysis of Elastic Robot Manipulators With Prismatic Joint

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dc.contributor.authorKalyoncu, Mete
dc.contributor.authorBotsalı, Fatih Mehmet
dc.date.accessioned2020-03-26T16:45:01Z
dc.date.available2020-03-26T16:45:01Z
dc.date.issued2002
dc.departmentSelçuk Üniversitesien_US
dc.descriptionThe Petroleum Division, ASMEen_US
dc.description2002 Engineering Technology Conference On Energy ETCE 2002 -- 4 February 2002 through 5 February 2002 -- Houston, TX -- 60410en_US
dc.description.abstractLateral and torsional vibrations of a robot manipulator with an elastic arm sliding in a prismatic joint are analyzed. The elastic arm is assumed as an Euler-Bernoulli beam. The mass of the end-effector is assumed as a point mass attached at the end of the elastic arm. The prismatic joint experiences 3-dimensional translational and rotational motion. The prismatic joint is assumed as rigid and frictionless. Rotational inertia of the beam is taken into consideration in obtaining the equations of motion. Elastic deformations are assumed as linear and small displacements. Axial vibrations are not considered but the effect of axial force is taken into account in the analysis. Elastic arm experiences both bending vibrations in two directions and torsional vibrations. The equations of motion are obtained by Lagrange's equation of motion. Numerical solution of the equations of motion are obtained by Runge-Kutta method. A computer program is developed for implementation of the presented technique. Numerical simulations are presented in the form of graphics. Presented method is found to be versatile in dynamic analysis of elastic robot arms.en_US
dc.identifier.citationKalyoncu, M., Botsalı, F. M., (2002). Lateral and Torsional Vibration Analysis of Elastic Robot Manipulators With Prismatic Joint. American Society of Mechanical Engineers, Petroleum Division (Publication) PD, (2), 1-8. Doi: 10.1115/ETCE2002/STRUC-29024
dc.identifier.doi10.1115/ETCE2002/STRUC-29024en_US
dc.identifier.endpage8en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage1en_US
dc.identifier.urihttps://dx.doi.org/10.1115/ETCE2002/STRUC-29024
dc.identifier.urihttps://hdl.handle.net/20.500.12395/18159
dc.identifier.volume2en_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorKalyoncu, Mete
dc.institutionauthorBotsalı, Fatih Mehmet
dc.language.isoenen_US
dc.relation.ispartofAmerican Society of Mechanical Engineers, Petroleum Division (Publication) PDen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.titleLateral and Torsional Vibration Analysis of Elastic Robot Manipulators With Prismatic Jointen_US
dc.typeConference Objecten_US

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