Experimental Model Validation for a Flexible Robot With a Prismatic Joint

[+] Author and Article Information
Ye-Chen Pan, A. Galip Ulsoy, R. A. Scott

Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109-2125

J. Mech. Des 112(3), 315-323 (Sep 01, 1990) (9 pages) doi:10.1115/1.2912610 History: Received August 01, 1988; Revised February 01, 1989; Online June 02, 2008


In [1] a dynamic model for flexible manipulators with prismatic joints and the solution method were presented. In this paper experiments on a spherical coordinate robot are performed to further validate the proposed dynamic model. Using the validated model, numerical simulations are performed to illustrate the coupling effects between the rigid body motions and the flexible motions, the effects of the flexible motion on a rigid body controller, and the effects of axial shortening.

Copyright © 1990 by The American Society of Mechanical Engineers
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