Doğrusal yörünge takip eden elastik robot manipülatörlerin dinamik cevabı
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Tarih
1999
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info:eu-repo/semantics/openAccess
Özet
Bu çalışmada, doğrusal yörünge takip eden dönerkayar mafsala sahip elastik robot manipülatörlerin dinamik cevabı incelenmiştir. Robot manipülatör, döner mafsal içinde ötelenme hareketi yapan uç kütle bağlanmış, Euler-Bernoulli çubuğu kabul edilen elastik bir koldan meydana gelmektedir. Elastik kolun hareket denklemleri, Lagrenge formülasyonu kullanılarak dönme ataleti ihmal edilmeden elde edilmiştir. Sayısal çözüm Runge-Kutta metoduyla yapılmıştır. Bir bilgisayar programı geliştirilerek elde edilen sayısal sonuçlar grafikler şeklinde sunularak irdelenmiştir.
In this paper, dynamic response is investigated for linear trajectory of elastic robot manipulators with revolute-prismatic joint. The elastic arm is assumed as an Euler-Bernoulli beam. The mass of the endeffector is assumed as a point mass attached at the end of the elastic arm. Rotational inertia of the Euler-Bernoulli beam is taken into consideration in obtaining the equations of motion. The equations of motion of the elastic arm is obtained by Lagrenge'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.
In this paper, dynamic response is investigated for linear trajectory of elastic robot manipulators with revolute-prismatic joint. The elastic arm is assumed as an Euler-Bernoulli beam. The mass of the endeffector is assumed as a point mass attached at the end of the elastic arm. Rotational inertia of the Euler-Bernoulli beam is taken into consideration in obtaining the equations of motion. The equations of motion of the elastic arm is obtained by Lagrenge'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.
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Cilt
40
Sayı
475
